Align RGB Camera with real view

Hi all,

I am trying to align the output of the RGB Camera (HD) with the “real” view, so it almost exactly overlays on top.

Are there any guides or best practices on this other than eye-balling it?
Also what is the best way to draw a “full-screen” UI? All the samples I have seen use the WorldSpace Canvas.

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There’s a similar issue, and the answer to that one might be helpful:

Any updates? Been over a year