For me appears that the best choice is
https://github.com/durfu/DFURTSPPlayer
Yes, it's pretty old and it won't work out of the box, but if you'll update mpeg libraries to 3.0, refactor project to ARC and get rid of deprecated mpeg methods, it seems to be a good choice. Definitely better than VLC.
All above can be found here https://github.com/rozum-dev/DFURTSPPlayer
