Android video frame processing
It seems the only thing you can do is decoding frames from MediaRecoder data. You may use ffmpeg to decode recoreder data from LocalSocket.
Hope the following open source projects may help:
ipcamera-for-android: https://code.google.com/p/ipcamera-for-android/
spydroid-ipcamera: https://code.google.com/p/spydroid-ipcamera/