Your IP Camera would need to support either the DHCP Protocol, or be able to be assigned a Static IP Address. If it supports the DHCP Camera then it will handle it on your own, but if it must be assigned a static IP address, then you would need to reserve that IP addres son the router, and then enter it into the camera as it's static IP address.
Routers use the MAC Address to assign out IP's under the DHCP. Unless you have a system that can masquerade as the IP Camera using it's MAC Address, to retrieve an IP address from the DHCP router, your stuck with one of the two ways above to assign an IP.