The release note of v2.21.2 mentioned:

Added disparityToDepthUseSpecTranslation, rectificationUseSpecTranslation, and depthAlignmentUseSpecTranslation options for advanced usage

Looks like their default values are:

bool disparityToDepthUseSpecTranslation = true;
bool rectificationUseSpecTranslation = false;
bool depthAlignmentUseSpecTranslation = true;

I don't understand why calibration data is not used as default for disparityToDepth and depthAlignment.
Not sure if these are related to #840. I didn't see a noticeable effect in my tests.