Yes, I run SDP thru MUSF. D-link quite often use sdp for their rtsp and that works fine.
First Sensor have a couple of IP cameras and they deliver both h.264/UDP and mjpeg. Of cause it must be possible to get the URL from the manufacturer. It must be possible to configure the camera for different parameters. Streaming mjpeg is done over http which should make it easy to find using wireshark.
-Henrik