@mkriesel ,
Not exactly, but close to that. if you already have the camera set up, add an entry "en_raw_preview": true ,such as:
"cameras": [
{
"type": "ov9782",
...
"en_preview": true,
"preview_width": 1280,
"preview_height": 800,
"en_raw_preview": true,
...
When you run voxl-camera-server with this configuration, you will see a image sent out <camera_name>_bayer, which is almost what you want, but it is RAW8 format, with the 2 LSB bits stripped off.
If you REALLY need to the 10 bit RAW image, there are a few changes that would need be made in the camera server (mainly disabling 10->8bit conversion and sending out the image via MPA with correct type). Let me know..
Keep in mind that OV9782 is a color camera, which means the image is in the Bayer format, and it will need to be debayered to get RGB, but camera server has an example implementation for doing that and it already publishes the color image after software debayering (if you enable the raw preview mode).
Here is a sample output from voxl-inspect-cam -a (in my case the camera is called stereo_left. Bayer is the raw (converted 10->8bit), grey is debayered into mono, color is debayered into a rgb image.
| Pipe Name | bytes | wide | hgt |exp(ms)| gain | frame id |latency(ms)| fps | mbps | format
| stereo_left_bayer | 1024000 | 1280 | 800 | 5.26 | 782 | 120 | 20.5 | 30.0 | 245.6 | RAW8
| stereo_left_color | 3072000 | 1280 | 800 | 5.26 | 782 | 120 | 23.0 | 30.0 | 736.7 | RGB
| stereo_left_grey | 1024000 | 1280 | 800 | 5.26 | 782 | 120 | 21.0 | 30.0 | 245.6 | RAW8
Alex