The easiest way is to store two trees in two arrays, merge them and build a new red-black tree with a sorted array which takes O(m + n) times.
Is there an algorithm with less time complexity?
You can merge two red-black trees in time O(m log(n/m + 1)) where n and m are the input sizes and, WLOG, m ≤ n. Notice that this bound is tighter than O(m+n). Here's some intuition:
You can find a brief description of the algorithm here. A more in-depth description which generalizes to other balancing schemes (AVL, BB[α], Treap, ...) can be found in a recent paper.
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