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Matching RGB image with point cloud.

I have two different sensors,one for capturing an RGB image (from an Intel RealSense SR300), and one for giving me a 3D Point Cloud(from a DUO MC stereo camera). How can I integrate the two? Is it possible to match the pixels of the RGB image to the points in the Point Cloud? I need a separate depth sensor because the SR300 does not work in the presence of ambient light and the DUO MC only gives a monochrome 2D image.

If I take a grayscale of the RGB image(from SR300) and use some sort of matching with the monochrome 2D image(from the DUO MC), could that work? Any alternatives would be super helpful as well.