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

Question

In estimate the camera pose using cv::solvePnPRansac, the input are objectPoints and imagePoints. And the output are the rotation and translation matrix, plus number of inliers points

I make to use GA “Gigantic algorithm” to generate a new rotation and translation matrix. What I like to calculate number of inliers points using my new rotation and translation.

If I have the points lists std::vector objectPoints; std::vector imagePoints; and the cameraMatrix and distCoeffs 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

Answer 1

I found a solution and will test it and update my answer from the OpenCV