If it is not a direct "peer to peer" connection, then you need a server too in the middle such as
Wowza or similar. For broadcasting, you can use a library such as this
one which I wrapped about 20 months ago and it works well. I will soon be wrapping the latest version since many improvements have been made.
If you need a pure "peer to peer" connection i.e. without a server, it should be possible with the latest version of ffmpeg where you can use the Android camera as a source. I have just compiled the latest version and wrapped it so I am going to test it in the next days. Just need to experiment first with the protocols (such as UDP or TCP) and which technique to use for broadcasting and see if transcoding is necessary or not.
If you are interested, you can contact me by PM.