def METHOD_NAME(shots_and_their_points) -> None:
    exact_found = 0
    for pose, bearings, points in shots_and_their_points:
        result = pygeometry.absolute_pose_three_points(bearings, points)
        expected = pose.get_world_to_cam()[:3]
        for Rt in result:
            exact_found += np.linalg.norm(expected - Rt, ord="fro") < 1e-6
    exacts = len(shots_and_their_points) - 2
    assert exact_found >= exacts