As depth sensing and computer vision technologies evolve, integrating RGB and depth cameras has become crucial for reliable and precise scene perception. In this session, we present an approach for aligning images from an RGB camera with depth maps from a time-of-flight (ToF) depth camera. We use stereo calibration to estimate the geometric transformation between the RGB camera and the ToF camera in order to enable accurate alignment of the depth and RGB images, producing RGB-D (RGB plus depth) points for each pixel. We will share results from our experiments using this technique and highlight lessons learned.