Color-depth cameras (RGB-D cameras) have become the primary sensors in most robotics systems, from service robotics to industrial robotics applications. Typical consumer-grade RGB-D cameras are provided with a coarse intrinsic and extrinsic calibration that generally does not meet the accuracy requirements needed by many robotics applications e.g., highly accurate three-dimensional (3-D) environment reconstruction and mapping, high precision object recognition, localization, etc.. In this paper, we propose a human-friendly, reliable, and accurate calibration framework that enables to easily estimate both the intrinsic and extrinsic parameters of a general color-depth sensor couple. Our approach is based on a novel two components error model. This model unifies the error sources of RGB-D pairs based on different technologies, such as structured-light 3-D cameras and time-of-flight cameras. Our method provides some important advantages compared to other state-of-the-art systems: It is general (i.e., well suited for different types of sensors), based on an easy and stable calibration protocol, provides a greater calibration accuracy, and has been implemented within the robot operating system robotics framework. We report detailed experimental validations and performance comparisons to support our statements.