If you want to use the Camera with TextureSurface you can implement SurfaceTextureListener interface. You'll have to implement 4 methods:
1) onSurfaceTextureAvailable - Here you setup your camera
2)onSurfaceTextureSizeChanged - In your case, the Android's camera will handle this method
3)onSurfaceTextureDestroyed - Here you destroy all camera stuff.
4) onSurfaceTextureUpdated- Update your texture here when you have something to change!
Check the example below:
    public class MainActivity extends Activity implements SurfaceTextureListener{
    private Camera mCamera;
    private TextureView mTextureView;
    @Override
    protected void onCreate(Bundle savedInstanceState) {
        super.onCreate(savedInstanceState);
        mTextureView = new TextureView(this);
        mTextureView.setSurfaceTextureListener(this);
        setContentView(mTextureView);
    }
    @Override
    public void onSurfaceTextureAvailable(SurfaceTexture surface, int width, int height) {
        mCamera = Camera.open();
        Camera.Size previewSize = mCamera.getParameters().getPreviewSize();
        mTextureView.setLayoutParams(new FrameLayout.LayoutParams(
                previewSize.width, previewSize.height, Gravity.CENTER));
        try {
            mCamera.setPreviewTexture(surface);
        } catch (IOException t) {
        }
        mCamera.startPreview();
    }
    @Override
    public void onSurfaceTextureSizeChanged(SurfaceTexture surface, int width, int height) {
        // Ignored, the Camera does all the work for us
    }
    @Override
    public boolean onSurfaceTextureDestroyed(SurfaceTexture surface) {
        mCamera.stopPreview();
        mCamera.release();
        return true;
    }
    @Override
    public void onSurfaceTextureUpdated(SurfaceTexture surface) {
        // Update your view here!
    }
}
Two more things: Don't forget to add the camera permissions in your project's manifest and the SurfaceTexture is available from API 11.