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@alalek answer: https://github.com/opencv/opencv/pull/16405#issuecomment-577096863

without run.py:

PYTHONPATH=${OPENCV_SRC_DIR}/modules/python/test ./setup_vars.sh python ${OPENCV_SRC_DIR}/modules/calib3d/misc/python/test/test_solvepnp.py

with run.py:

OPENCV_PYTEST_FILTER=test_solvepnp ./setup_vars.sh python ${OPENCV_SRC_DIR}/modules/ts/misc/run.py -a -t python3