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cv::Mat raw(640, 480, CV_8UC1, frame->buffer.data()); i'm unshure about bayer images, but CV_8UC1 would mean, that your input image has 1 channel only(gray). try CV_8UC3 (3 uchar channels) i think, you truncated it
it's rows, cols there, not width height. (yes, happy here to confuse it evey 2nd time, too)
so : cv::Mat raw(480,640, CV_8UC3, frame->buffer.data());
BONUS: NO, that constructor only copies the pointer and sets up rows/cols and such, no deep copy, so careful with that!!. but you're safe here, since the following cvtColor() WILL alloc new space for the result image

cv::Mat raw(640, 480, CV_8UC1, frame->buffer.data()); i'm unshure about bayer images, but CV_8UC1 would mean, that your input image has 1 channel only(gray). try CV_8UC3 (3 uchar channels) i think, you truncated it
it's rows, cols there, not width height. (yes, happy here to confuse it evey 2nd time, too)
so : cv::Mat raw(480,640, CV_8UC3, frame->buffer.data());
BONUS: NO, that constructor only copies the pointer and sets up rows/cols and such, no deep copy, so careful with that!!. but you're safe here, since the following cvtColor() WILL alloc new space for the result ~~image~~image. in other situations, when you're using such a constructor with a 'borrowed' pointer you'd want to clone() it