Insert the sample grabber filter. Connect the camera source to the sample grabber and then to the null renderer. The sample grabber is a transform, so you need to feed the output somewhere, but if you don't need to render it, the null renderer is a good choice.
You can configure the sample grabber using ISampleGrabber. You can arrange a callback to your app for each frame, giving you either a pointer to the bits themselves, or a pointer to the IMediaSample object which will also give you the metadata.
You need to implement ISampleGrabberCB on your object, and then you need something like this (pseudo code)
IFilterInfoPtr m_pFilterInfo;
ISampleGrabberPtr m_pGrabber;
m_pGrabber = pFilter;
m_pGrabber->SetBufferSamples(false);
m_pGrabber->SetOneShot(false);
// force to 24-bit mode
AM_MEDIA_TYPE mt;
ZeroMemory(&mt, sizeof(mt));
mt.majortype = MEDIATYPE_Video;
mt.subtype = MEDIASUBTYPE_RGB24;
m_pGrabber->SetMediaType(&mt);
m_pGrabber->SetCallback(this, 0);
// SetCallback increments a refcount on ourselves,
// but we own the grabber so this is recursive
/// -- must addref before SetCallback(NULL)
Release();