The easiest way to get a 2D/3D image goes by a Tango phone. Please have a look on https://developers.google.com/tango/ for further topics.
Unfortunately, there is no ready to go setup including RGB available from our side; the good news is that it is quite easy to do the camera registration (alignment of field of views) using the (2D) greyscale view.
Royale viewer howto
Tools => Data => Grey
Royale SDK howto