how to publish stereo rectified color image for left and right camera in 400P?

[lturing]

hi, I have OAK-D-SR, which has camera OV9782 and support rgb.
the default rectified stereo publish gray-scale image for left and right (depthai_examples/src/stereo_inertial_publisher.cpp).
for my application, i need the rectified stereo for slam and rgb-scale for deep learning.