SEPM and AD

Hello Guys

I need to get a list of computers are in AD but not added in SEPM.

I can get the list of all computers added in SEPM but its hard to get from AD. 

Is there is inbuild function\feature in SEPM12.1X can get the data from AD and can export the list in excel format,.. or if there is any other alternate..??

-Thank You.