For a general (pseudo-)Riemannian manifold, i.e. in which the interval $ds$ can be written
$ds^2 = g_{ab}\,dx^a \,dx^b$,
is there a general prescription for finding the group of isometries- by which I mean transformations of the elements $x^a$ such that the metric is preserved (like the Poincare group for Minkowski spacetime)?