P2P Camera viewer with Jetson nano

Hi, I am using Jetson Nano for developing. I have some IP cameras at home, & I want to view these camera through P2P without using NAT on my router. Does anyone know how it’s done? I use Python. Thank you, have a great day.

A general setup is to connect a PoE router to ethernet port of Jetson Nano, and then connect the IP cameras to the PoE router. So that the cameras can be launched in gstreamer command like:

gst-launch-1.0 uridecodebin uri=URI_OF_IP_CAMERA ! nvoverlaysink

For different use-case, would need other users to share experience.