Yes there are several ways to go about it all depends on how accurate you want to be. Best or most accurate way is to use manufacture discharge curves. To get in the ballpark is:
AH = TA
Where AH = Amp-Hours
T = Time in Hours
A = Amps
But be warned the above formula only gets you in the ballpark if the battery is discharged at its published discharge rate of 8 to 20 hours.
For example let's say you have a battery rated at 100 AH @ 20 hours means you can discharge it at 5 amps for 20 hours. However let's say you want to discharge it at say 20-amps, you will not get 5-hours, more like 3 or 4 (60 to 80 AH)