1. An imaging system, comprising: a first image sensor configured to obtain luminance data of a scene; a second image sensor configured to obtain chrominance data of the scene; a third image sensor configured to obtain three-dimensional data of the scene; and an image processor configured to receive the luminance data, the chrominance data and the three-dimensional data and to generate a composite image corresponding to the scene from the luminance data, the chrominance data and the three-dimensional data; wherein the processor is configured to: generate an alignment transform that accounts for differences in alignment of the first, second and third image sensors; generate the alignment transform as a calibration of the system and thereafter to apply the alignment transform to provide epipolar geometry alignment and disparity compensation; and process the disparity compensation in real time using the three-dimensional data received in real time wherein the three-dimensional data includes at least one of distance data of the scene or depth data of the scene.