MedianFilterForDepthSensor.cpp

unsigned char n;
const char depthPin = A0;

using namespace std;

void setup() {
    pinMode(depthPin, INPUT);
}

char medianFilter() {
    int depthArray[50];
    for(int a = 0; a != 50; a++) {
        depthArray[a] = analogRead(depthPin);
    }

    for(int i=0; i<n; ++i)
    for(int j=i+1; j<n; ++j)
    if(depthArray[j]<depthArray[i])swap(depthArray[i],depthArray[j]);

    return depthArray[24];
}