I'm no expert on audio/video streaming. On most of my projects, either other people dealt with that, or we had an off-the-shelf solution requiring no additional low-level implementation.
In any case, contact the hardware's manufacturer and ask them about the methods suggested / provided for outputting audio/video stream. As for libraries that are typically used for that, I don't really know, the only libraries I know (besides manufacturer-provided libraries) are gstreamer and opencv (an ex-colleague of mine got one stereo-camera system, three free cameras and a pivoting laser range finder all working with OpenCV, and it took him a few weeks to get it all up and running, so it seems pretty easy to do).
mike_2000_17
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mike_2000_17
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