1. A method, comprising: calculating, by a depth camera system, 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 by the depth camera system; modifying the first light intensity image by the depth camera system; calculating new values for the depth image based on the modified first light intensity image and the second light intensity image by the depth camera system; repeating, by the depth camera system, 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.