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Well, there is no magic "get all noise and shades away" method for kinect data. Both are basically caused by the sensing principle, so in some way somebody has to cope with them. For reducing shades maybe inpainting may help http://docs.opencv.org/modules/photo/doc/inpainting.html?highlight=inpaint#cv2.inpaint; for reducing noise maybe gaussian blur may help, http://docs.opencv.org/modules/imgproc/doc/filtering.html?highlight=blur#cv2.GaussianBlur; http://docs.opencv.org/modules/imgproc/doc/filtering.html?highlight=blur#cv2.blur; However, in both cases you have to be very careful that you to not "blur away" real features in the image so that it may "look nicer" but you really have lost information. If you want to do some processing on the image, maybe you should try to accept the image has contains some noise and try to use the shades as features....
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