A depth-based computational photography method includes recording a first image using a stereoscopic camera system, establishing a disparity map, via a processor, of the first image including a determination of pixel distance between features in the first image and the features in a second image, determining a histogram of pixel disparity values from the disparity map, and removing statistical outlier pixel disparity values. The method further includes identifying holes in disparity map of the first image and computationally shrinking holes in the disparity map via averaging disparity map values based on radially sampled areas proximate to the hole and sharpening histogram pixel disparity value peaks by shifting pixel disparity values in a close neighborhood range of a histogram pixel disparity value peak maximum closer to a pixel disparity value at the histogram pixel disparity value peak maximum.