Extract Raw Pixel Data

[SoyStuff]

I know that there are plenty of pre-made image analysis functions at my disposal, but for my own amusement, I would like access to the raw pixel data in images from the Vision camera. That is to say, I would like to be able to specify a location in an image and figure out what color it is (RGB). If there is a function that enables this, that would be great. If, however, the function is high level and carries a lot of overhead, is there a more efficient way to get this data?