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You need to compile OpenCV with ffmpeg support. This works on OSX Lion with a D-Link camera.

#include <stdio.h>
#include <opencv2/opencv.hpp>
#include <iostream>

int main(int, char**) {
    cv::VideoCapture vcap;
    cv::Mat image;

    // This works on a D-Link CDS-932L
    const std::string videoStreamAddress = "http://<username:password>@<ip_address>/video.cgi?.mjpg";

    //open the video stream and make sure it's opened
    if(!vcap.open(videoStreamAddress)) {
        std::cout << "Error opening video stream or file" << std::endl;
        return -1;
    }

    for(;;) {
        if(!vcap.read(image)) {
            std::cout << "No frame" << std::endl;
            cv::waitKey();
        }
        cv::imshow("Output Window", image);
        if(cv::waitKey(1) >= 0) break;
    }   
}