code: def median_depth_img(self, num_img=1, fill_depth=0.0):
          
          depths = []
  
          for _ in range(num_img):
              _, depth, _ = self.frames()
              depths.append(depth)
  
          median_depth = Image.median_images(depths)
          median_depth.data[median_depth.data == 0.0] = fill_depth
          return median_depth
docs: Collect a series of depth images and return the median of the set.
  
          Parameters
          ----------
          num_img : int
              The number of consecutive frames to process.
  
          Returns
          -------
          DepthImage
              The median DepthImage collected from the frames.