In saucepan combine undrained beans, garlic, rosemary, and 1 cup water. Bring to boiling. Reduce heat; cover and simmer for 15 minutes. Drain. In screw-top jar combine oil, vinegar, salt, and pepper; cover and shake well. Pour over beans; toss to coat. Cover and refrigerate several hours or overnight; stir occasionally. To serve, drain beans and use as part of an antipasto tray. Makes about 3 1/2 cups.