A quality of a virtual image for a synthetic viewpoint in a 3D scene is determined. The 3D scene is acquired by texture images, and each texture image is associated with a depth image acquired by a camera arranged at a real viewpoint. A texture noise power is based on the acquired texture images and reconstructed texture images corresponding to a virtual texture image. A depth noise power is based on the depth images and reconstructed depth images corresponding to a virtual depth image. The quality of the virtual image is based on a combination of the texture noise power and the depth noise power, and the virtual image is rendered from the reconstructed texture images and the reconstructed depth images.