[BUG] Slight Misalignment with setDepthAlign(CameraBoardSocket camera)

[borongyuan]

Describe the bug
There are currently two variants of setDepthAlign(). Depth image is perfectly align with rectified mono image using setDepthAlign(Properties::DepthAlign align). But there is a slight misalignment when using setDepthAlign(CameraBoardSocket camera). Specifically, the depth image is neither perfectly aligned with rectified image nor aligned with raw image. I'm currently observing this when using OAK-D Pro W. I don't know if this issue is noticeable on other models.

Minimal Reproducible Example
You can modify stereo_depth_video.cpp for experiment.

Expected behavior
I'm not too sure about the specific behavior of setDepthAlign(CameraBoardSocket camera).

camera: Set the camera from whose perspective the disparity/depth will be aligned

This paragraph in the document does not specify whether to use raw image or rectified image. So I currently avoid this variant in other projects.