Streaming video is a little complex but basicaly there are currently 2 ways
c2c integrations from Samsung, Arlo, Nest and a few others, using this method there is no need for codecs and the like
Another method is currently in Beta stage where an Edge driver detects an Ip camera on your home network and hands the details to the platform which then handles the stream
Using c2c the Samsung Tv running integrated Smartthings should display the camera stream
Currently there has been no luck in displaying a camera stream from the edge driver on a Tv, the link below has conversation about the topic
Read here about the beta Edge driver created by @TAustin