1. A method, comprising: calculating a depth image based on a first light intensity image and a second light intensity image, the first and second light intensity images contain pixel values for the same scene; smoothing the depth image; modifying the first light intensity image; calculating new values for the depth image based on the modified first light intensity image and the second light intensity image; repeating the smoothing the depth image, the modifying the first light intensity image, and the calculating new values for the depth image until it is determined that processing the depth image is complete, wherein the calculating a depth image, the smoothing, the modifying, and the calculating new values are performed by a hardware device.