Many 3D reconstruction methods produce incomplete depth maps. Depth map inpainting can generate visually plausible structures for the missing areas. We present an inpainting method that encourages flat surfaces without favouring fronto-parallel planes. Moreover, it uses a color image to guide the inpainting and align color and depth edges. We implement the algorithm efficiently through graph-cuts. We compare the performance of our method with another inpainting approach used for large datasets and we show the results using several datasets. The depths inpainted with our method are visually plausible and of higher quality.