A method of real-time depth mapping in a dual camera system, including, receiving an auto focus image, rectifying the auto focus image, receiving a plenoptic image having lens that cover 2×2 pixels, extracting four plenoptic sub-images, averaging and rectifying the plenoptic sub-images, block matching the rectified auto focus image and the rectified plenoptic sub-images along epipolar lines, block matching the rectified plenoptic sub-images along a vertical and a horizontal direction, determining a composite block matching error of the plenoptic block match, determining a plenoptic disparity map of the plenoptic sub-images based on the composite block matching error, converting the plenoptic disparity map to a plenoptic depth map, converting the plenoptic depth map to an initial stereo disparity map, searching for a guided disparity map based on the initial stereo disparity map and the epipolar block match and converting the guided disparity map to a guided depth map.