A processor-implemented method includes obtaining a first motion matrix corresponding to an extended reality (XR) system and a second motion matrix based on a conversion coefficient from an XR system coordinate system into a rolling shutter (RS) camera coordinate system, and projecting an RS color image of a current frame onto a global shutter (GS) color image coordinate system based on the second motion matrix and generating a GS color image of the current frame, wherein the second motion matrix is a motion matrix of a timestamp of a depth image captured by a GS camera corresponding to a timestamp of a first scanline of an RS color image captured by the GS camera.