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import numpy as np

def relative_to_metric_depth(relative_depth, focal_length, baseline):
    """
    Convert relative depth to metric depth.
    
    Args:
    relative_depth (numpy.ndarray): Relative depth map
    focal_length (float): Focal length of the camera in pixels
    baseline (float): Baseline distance between stereo cameras in meters
    
    Returns:
    numpy.ndarray: Metric depth map
    """
    # Assuming relative_depth is normalized between 0 and 1
    # Convert to disparity (inverse of depth)
    disparity = 1 / (relative_depth + 1e-6)  # Add small epsilon to avoid division by zero
    
    # Convert disparity to metric depth
    metric_depth = (focal_length * baseline) / disparity
    
    return metric_depth

# Example usage
relative_depth_map = np.random.rand(480, 640)  # Example relative depth map
focal_length = 500  # Example focal length in pixels
baseline = 0.1  # Example baseline in meters

metric_depth_map = relative_to_metric_depth(relative_depth_map, focal_length, baseline)

print("Shape of metric depth map:", metric_depth_map.shape)
print("Min depth:", np.min(metric_depth_map), "meters")
print("Max depth:", np.max(metric_depth_map), "meters")