This program plays a raw H.264 video stream from a Raspberry Pi camera.
The program is open source and is available on GitHub under the MIT License at:
https://github.com/ShawnBaker/iOS_RPiCameraViewer
Details on how to use this program are available at:
http://frozen.ca/rpi-camera-viewer-for-ios
Details on how to generate video on the Raspberry Pi are available at:
http://frozen.ca/streaming-raw-h-264-from-a-raspberry-pi
In a nutshell, when you start the program it scans the local network for cameras and shows you the resulting list. Tapping on one of the camera names displays the video from that camera.