32     Mat rvec = Mat::zeros(3, 1, CV_32FC1);  variable
43     warmup(rvec, WARMUP_RNG);
46     projectPoints(points3d, rvec, tvec, intrinsics, distortion, points2d);
58         solvePnP(points3d, points2d, intrinsics, distortion, rvec, tvec, false, algo);
61     SANITY_CHECK(rvec, 1e-6);
79     Mat rvec = Mat::zeros(3, 1, CV_32FC1);  variable
90     warmup(rvec, WARMUP_RNG);
93     projectPoints(points3d, rvec, tvec, intrinsics, distortion, points2d);
105         solvePnP(points3d, points2d, intrinsics, distortion, rvec, tvec, false, algo);
108     SANITY_CHECK(rvec, 1e-1);
139     Mat rvec;  variable
149         solvePnPRansac(object, image, camera_mat, dist_coef, rvec, tvec);  in TEST_CYCLE()
152     SANITY_CHECK(rvec, 1e-6);