This paper presents a homotopy-based algorithm for a cooperative and simultaneous estimation of defocus blur and spatial shifts (2D motion, stereo disparities and/or zooming disparities) in the spatial domain. These cues are estimated from two images of the same scene acquired by a camera evolving in time and/or space and for which the intrinsic parameters are known. We show that these depth cues can be directly computed by resolving a system of equations is embedded in a family of systems using a homotopy method. The results confirm that the use of homotopies reduces approximation errors and thus leads to a denser and more accurate estimation of depth cues.