1. A device for processing data, comprising: a first input port for receiving color image data, comprising a first array of color image pixels, from a first image sensor; a second input port for receiving depth-related image data from a second image sensor; processing circuitry, for generating a depth map using the depth-related image data, the depth map comprising a second array of depth pixels with respective depth values, and after generating the depth values, registering the depth map with the color image data by computing different, respective shifts for the depth pixels responsively to the depth values, and applying the respective shifts to the depth pixels in the second array in order to register the depth pixels with respective, associated color image pixels in the first array; and at least one output port for conveying the registered depth map and the color image data to a host computer.