An image processing system generates an output image from an input image through a depth-dependent transformation. The images are represented as respective pixel arrays. An input 1110 receives for each input pixel an associated input pixel value and input pixel depth. Each input pixel is associated with a respective reconstruction filter footprint. A video processor create the output pixels by, for each input pixel, transforming 1120 the input pixel to a transformed input pixel as a function of the associated input pixel depth and transforming the associated filter footprint to an transformed filter footprint as a function of the associated input pixel depth. The processor also performs a reconstruction filtering operation 1150 on a plurality of the transformed input pixels using the transformed filter footprints. An output 1160 is used for providing the output image for subsequent rendering.