1. A computer-implemented method for depth determination, comprising: capturing a plurality of images using a camera of a computing device during an autofocus process of the camera, each image in the plurality of images being captured with a different focus setting associated with the autofocus process; for each image in the plurality of images: determining one or more objects in the image that have a sharpness level exceeding a sharpness threshold, the sharpness level indicating an amount of image detail conveyed depending at least in part on the focus setting associated with the camera with which the image was captured; associating a virtual plane with the one or more objects in the image, the virtual plane being selected based on a focus distance of a lens of the camera when the image was captured, the virtual plane indicating a depth away from the camera at which the one or more objects in the image are located; determining a position in a sequential order specifying relative depth for the one or more objects in the image based on comparing the virtual plane associated with the one or more objects in the image against other virtual planes associated with other objects in other images; and generating a depth map for objects in the plurality of images based on comparing positions in the sequential order for the objects in the plurality of images, the depth map indicating relative depths for the objects in the plurality of images.