In an imaging system having a first camera with a first field of view (FOV) and a second camera with a second FOV smaller than the first FOV, wherein the first and second FOVs overlap over an overlap region, a method for calculating a calibrated phase detection depth map over the entire first FOV comprises calculating a stereoscopic depth map in the overlap region using image information provided by the first and second cameras, obtaining a first camera phase detection (PD) disparity map in the entire first FOV, and using the stereoscopic depth map in the overlap region to provide a calibrated 2PD depth map in the entire first FOV.