A related topic that could also be summarized because it's not well documented is how to get still pictures out of the cameras. This is useful because still pictures may work on devices that video doesn't, or that you don't own and can't install the viewer add-ons to. You'll need only a web browser. Viewing a still picture is also faster than opening a video viewer if you just want to take a quick look, and also doesn't require as much bandwidth (in case you are on a limited bandwidth connection or one where you pay per megabyte). I use this sometimes instead of viewing live video.
This method works (with slight variations) on all the cameras I've tried:
http://<ip address>:<port>/image/jpeg.cgi
Some cameras accept variations.
On the DCS-2310L and DCS-2332L you can add the following to specify which video profile to use (this selects the image resolution):
http://<ip address>:<port>/image/jpeg.cgi?profileid=1
(or profileid 2 or 3).
On the DCS-942L you can also use a secure connection (so your userid/password aren't sent as clear text):
https://<ip address>:<port>/image/jpeg.cgi
Be sure to specify https: along with the port number you configured as the https port, if you specify http: for this secure access port it won't work. You'll also have to accept a warning about an invalid certificate, unless you go to the trouble of getting one registered to yourself (some of the cameras appear to to support this, I haven't tried).
The DCS-930L also supports:
http://<ip address>:<port>/image.jpg
(or image/jpeg.cgi works too, like all the other cameras).
For this to work (and for 3rd party viewers to work) you'll need to open a port on your router for direct access to the camera (and be sure you've set secure passwords to the camera), or be on the local LAN with the camera. You might be able to set up port forwarding via your router setup menus. But if your router supports UPnP, the easiest method may be to set up a port through the camera's setup menu. Turn on UPnP port forwarding in the camera advanced setup (network settings), and specify a unique port number per camera and per function (some cameras only support one port for http access, some also support other port numbers for https and rtsp). You'll use the port number to select which camera and which function you'll access. You can pick almost any port number. You're best off using a "user port" (numbers 1024 to 49151) or "dynamic port" (numbers 49152 to 65535). You can pick any that's not already used for something else on your network (most or all in these range are probably not used in most home networks).
The IP address will be your router's IP address and the port number you specified if accessing from outside your network. From inside your network, you would point to the camera's IP address, with the port number requied only if you've changed it from the default 80. If you don't want to use your router's ip address, which might change from time to time as the URL, you can register with a Dynamic DNS service to have a fixed name.