Systems and methods for generating a virtual view of a virtual camera based on an input scene are described. A capturing device typically includes a physical camera and a depth sensor and captures an input scene. A controller determines an actual pose of the capturing device and a desired pose of the virtual camera for showing the virtual view. The controller defines an epipolar geometry between the actual pose of the capturing device and the desired pose of the virtual camera. The controller generates an output image for the virtual camera based on an epipolar relation between the actual pose of the capturing device, the input scene, and the desired pose of the virtual camera.