Depth maps are generated from two or more of images captured with a conventional digital camera from the same viewpoint using different configuration settings, which may be arbitrarily selected for each image. The configuration settings may include aperture and focus settings and/or other configuration settings capable of introducing blur into an image. The depth of a selected image patch is evaluated over a set of discrete depth hypotheses using a depth likelihood function modeled to analyze corresponding images patches convolved with blur kernels using a flat prior in the frequency domain. In this way, the depth likelihood function may be evaluated without first reconstructing an all-in-focus image. Blur kernels used in the depth likelihood function and are identified from a mapping of depths and configuration settings to the blur kernels. This mapping is determined from calibration data for the digital camera used to capture the two or more images.