It was narrated from Mu'awiyah bin Abi Sufyan that he asked Umm Habibah, the wife of the Prophet (ﷺ):
"Did the Messenger of Allah (ﷺ) pray in a garment in which he had had intercourse?" She said: "Yes, so long as he saw no filth on it." (RU)
English reference (RU): Vol. 1, Book 1, Hadith 295 (RU)
Arabic reference (RU): Book 1, Hadith 296 (RU)