Shape-from-focus (SFF) uses a sequence of space-variantly defocused observations captured with relative motion between camera and scene. It assumes that there is no motion parallax in the frames. This is a restriction and constrains the working environment. Moreover, SFF cannot recover the structure information when there are missing data in the frames due to CCD sensor damage or unavoidable occlusions. The capability of fillingin plausible information in regions devoid of data is of critical importance in many applications. Images of 3D scenes captured by off-the-shelf cameras with relative motion commonly exhibit parallax-induced pixel motion. We demonstrate the interesting possibility of exploiting motion parallax cue in the images captured in SFF with a practical camera to jointly inpaint the focused image and depth map. © 2010 Optical Society of America.