Techniques are provided for synthesis of transformed image views, based on a reference image, using depth information. The transformed image views may simulate a change in position or focal length of a camera that produced the reference image. An example system includes an image transformation circuit configured to transform the reference image corresponding to a first viewpoint, to a transformed image corresponding to a second viewpoint. The system also includes an inverse warping circuit configured to calculate a mapping from the pixels of the transformed image to corresponding pixels of the reference image. The system further includes a hole detection circuit configured to detect holes in the transformed image based on depth discontinuities between the reference and transformed images; and a hole filling circuit configured to in-fill the detected holes using a sampling of selected neighboring pixels from the reference image, to synthesize a view based on the transformed image.