I want to transform perspective on an input image and output image from the new perspective. I have depth map and scale information. The picture roughly demonstrates what I want to do. I have a single camera which is monocular I get an input image, I can estimate depth and scale information from that image using deep learning. The angle between the two perspectives is not large and two camera positions are on the same plane. Is there a way to get an image from the new perspective using the information I have ?