There are also a few open-source projects with this kind feature: StreamIt for example (https://github.com/twittemb/StreamIt), which also provides an MJPEG stream.
This would be the most basic stuff.
MJPEG is however not the most efficient (~200Kb/s networking). There are also some "video" streaming projects like https://github.com/shogo4405/HaishinKit.swift or https://github.com/wlanjie/lf.swift, which provide MP4/RTMP/HLS streams and could be processed with a camera monitoring software like Shinobi (https://shinobi.video).
I hope this helps!