Our downstream processing expects that depth images (e.g., coming from a StereoDepth node) are aligned with the left camera stream, but it looks like DepthAI nodes (at least StereoDepth) default to the right.
The two functions which seem to determine left vs. right alignment are
setDepthAlign. Is it sufficient to simply call
setDepthAlign(dai::CameraBoardSocket::LEFT), or does aligning with the left camera stream also require changing the mirror settings?
As an aside, I'm using rosBridge, and it looks clear that I should then use a left aligned image converter and camera info for the BridgePublisher.