# how to calculate the inliers points from my rotation and translation matrix?

how to calculate the inliers points from my rotation and translation matrix? if I have the points lists std::vector<point3d> opoints; std::vector<point2d> ipoints; and I have the rotation and translation matrix, How can I calculate the inliers points

I know that cv::solvePnPRansac will calculate the inliers, rotation and translation from the two points list, but I need to calculate the inliers from my rotation and translation?

Thanks for your support