root@host:~# ffmpeg -rtsp_transport tcp -i rtsp://192.168.1.72:8557/Onvif/Streaming/2?videoCodecType=H.264 -vcodec copy -f rtp rtp://192.168.1.99:554/testcam.sdp

OUTPUT
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ffmpeg version 2.2.3 Copyright (c) 2000-2014 the FFmpeg developers
built on Jun 5 2014 23:19:57 with gcc 4.6 (Debian 4.6.3-14)
configuration: --prefix=/root/ffmpeg_build --enable-gpl --enable-libass --enable-libfreetype --enable-libmp3lame --enable-libtheora --enable-libvorbis --enable-libvpx --enable-libx264 --enable-nonfree --enable-shared --disable-static
WARNING: library configuration mismatch
swscale configuration: --arch=arm --enable-pthreads --enable-runtime-cpudetect --extra-version='6:0.8.10-1' --libdir=/usr/lib/arm-linux-gnueabihf --prefix=/usr --disable-yasm --enable-bzlib --enable-libdc1394 --enable-libdirac --enable-libfreetype --enable-frei0r --enable-gnutls --enable-libgsm --enable-libmp3lame --enable-librtmp --enable-libopencv --enable-libopenjpeg --enable-libpulse --enable-libschroedinger --enable-libspeex --enable-libtheora --enable-vaapi --enable-vdpau --enable-libvorbis --enable-libvpx --enable-zlib --enable-gpl --enable-postproc --enable-swscale --enable-libcdio --enable-x11grab --enable-libx264 --enable-libxvid --shlibdir=/usr/lib/arm-linux-gnueabihf/neon/vfp --extra-cflags='-mfpu=neon -fPIC -DPIC' --enable-shared --disable-static
postproc configuration: --arch=arm --enable-pthreads --enable-runtime-cpudetect --extra-version='6:0.8.10-1' --libdir=/usr/lib/arm-linux-gnueabihf --prefix=/usr --disable-yasm --enable-bzlib --enable-libdc1394 --enable-libdirac --enable-libfreetype --enable-frei0r --enable-gnutls --enable-libgsm --enable-libmp3lame --enable-librtmp --enable-libopencv --enable-libopenjpeg --enable-libpulse --enable-libschroedinger --enable-libspeex --enable-libtheora --enable-vaapi --enable-vdpau --enable-libvorbis --enable-libvpx --enable-zlib --enable-gpl --enable-postproc --enable-swscale --enable-libcdio --enable-x11grab --enable-libx264 --enable-libxvid --shlibdir=/usr/lib/arm-linux-gnueabihf/neon/vfp --extra-cflags='-mfpu=neon -fPIC -DPIC' --enable-shared --disable-static
libavutil 52. 66.100 / 52. 66.100
libavcodec 55. 52.102 / 55. 52.102
libavformat 55. 33.100 / 55. 33.100
libavdevice 55. 10.100 / 55. 10.100
libavfilter 4. 2.100 / 4. 2.100
libswscale 2. 5.102 / 2. 1. 0
libswresample 0. 18.100 / 0. 18.100
libpostproc 52. 3.100 / 52. 0. 0
Input #0, rtsp, from 'rtsp://192.168.1.72:8557/Onvif/Streaming/2?videoCodecType=H.264':
Metadata:
title : RTSP/RTP stream from Network Video Server
comment : 2?videoCodecType=H.264
Duration: N/A, start: 26527.558511, bitrate: N/A
Stream #0:0: Video: h264 (Baseline), yuvj420p(pc), 720x480, 25 fps, 25 tbr, 90k tbn, 50 tbc
Output #0, rtp, to 'rtp://192.168.1.99:554/testcam.sdp':
Metadata:
title : RTSP/RTP stream from Network Video Server
comment : 2?videoCodecType=H.264
encoder : Lavf55.33.100
Stream #0:0: Video: h264, yuvj420p, 720x480, q=2-31, 25 fps, 90k tbn, 25 tbc
Stream mapping:
Stream #0:0 -> #0:0 (copy)
SDP:
v=0
o=- 0 0 IN IP4 127.0.0.1
s=RTSP/RTP stream from Network Video Server
c=IN IP4 192.168.1.99
t=0 0
a=tool:libavformat 55.33.100
m=video 554 RTP/AVP 96
a=rtpmap:96 H264/90000
a=fmtp:96 packetization-mode=1; sprop-parameter-sets=Z0KAKNoC0PSVIAAADwAAAwLuDAgAJJ4ACkyXvfC8IhGo; profile-level-id=428028

Press [q] to stop, [?] for help
[rtp @ 0xd498c0] Non-monotonous DTS in output stream 0:0; previous: 0, current: -18000; changing to 1. This may result in incorrect timestamps in the output file.
[rtp @ 0xd498c0] Non-monotonous DTS in output stream 0:0; previous: 1, current: -14400; changing to 2. This may result in incorrect timestamps in the output file.
[rtp @ 0xd498c0] Non-monotonous DTS in output stream 0:0; previous: 2, current: -10800; changing to 3. This may result in incorrect timestamps in the output file.
[rtp @ 0xd498c0] Non-monotonous DTS in output stream 0:0; previous: 3, current: -7200; changing to 4. This may result in incorrect timestamps in the output file.
[rtp @ 0xd498c0] Non-monotonous DTS in output stream 0:0; previous: 4, current: -3600; changing to 5. This may result in incorrect timestamps in the output file.
[rtp @ 0xd498c0] Non-monotonous DTS in output stream 0:0; previous: 5, current: 0; changing to 6. This may result in incorrect timestamps in the output file.
frame= 2794 fps= 25 q=-1.0 Lsize= 4117kB time=00:01:51.49 bitrate= 302.5kbits/s