Extracting Raw Stream from Live Stream Reference

Is there a way to extract a reference to the live stream (liveStreamRef in the code for the sample apps) so that it can be consumed by custom code?

Currently the encoding, decoding, filtering, muxing/demuxing all seem to be applied inside hidden layers. But what if I want to do all/any of those bits myself? I order to do that I’d have to have the camera stream from the drone available for input into my custom code.

Please advise.