Test: Add ImageAlign depth to image test

tests/src/ondevice_tests/image_align_node_test.cpp

@@ -3,9 +3,8 @@
 #include <thread>
 
 #include "depthai/depthai.hpp"
-#include "depthai/pipeline/InputQueue.hpp"
 
-TEST_CASE("Test ColorCamera node") {
+TEST_CASE("Test ImageAlign node image to image alignment") {
     using namespace std;
     using namespace std::chrono;
     using namespace std::chrono_literals;
@@ -35,3 +34,36 @@ TEST_CASE("Test ColorCamera node") {
         REQUIRE(aligned != nullptr);
     }
 }
+
+TEST_CASE("Test ImageAlign node depth to image alignment") {
+    using namespace std;
+    using namespace std::chrono;
+    using namespace std::chrono_literals;
+
+    dai::Pipeline p;
+    auto leftCam = p.create<dai::node::Camera>()->build(dai::CameraBoardSocket::CAM_B);
+    auto rightCam = p.create<dai::node::Camera>()->build(dai::CameraBoardSocket::CAM_C);
+    auto stereo = p.create<dai::node::StereoDepth>();
+    auto align = p.create<dai::node::ImageAlign>();
+
+    auto leftOut = leftCam->requestOutput({1280, 800}, dai::ImgFrame::Type::NV12);
+    auto rightOut = rightCam->requestOutput({1280, 800}, dai::ImgFrame::Type::NV12);
+
+    leftOut->link(stereo->left);
+    rightOut->link(stereo->right);
+
+    stereo->depth.link(align->input);
+    rightOut->link(align->inputAlignTo);
+
+    auto alignedQueue = align->outputAligned.createOutputQueue();
+
+    p.start();
+
+    // Retrieve N messages
+    constexpr size_t N = 20;
+    for(size_t i = 0; i < N; ++i) {
+        auto aligned = alignedQueue->get<dai::ImgFrame>();
+
+        REQUIRE(aligned != nullptr);
+    }
+}