I've got the same error than getting it from streamdev in ts format (with wget) and trying to read it with mplayer, the fps is not found but not a problem at all
Playing bbc.ts. TS file format detected. VIDEO H264(pid=256) NO AUDIO! NO SUBS (yet)! PROGRAM N. 1 FPS not specified in the header or invalid, use the -fps option. No stream found.
This has been addresses on another thread with playback to Popcorn Hour 'set-top box' device. Patches are already developed and tested.
For quick fix please see: http://www.vdr-developer.org/mantisbt/view.php?id=496
and apply patch #5.
As TS stream gets more standardized and some other minor changes happened, the stream is also more compatible with Mplayer. Now mplayer recognizes the stream better.
Best regards, Jori