How to connect to P2P Camera

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I've bought an IP Camera with P2P capabilities and I've been struggling on how this works. On the bottom of my camera there is an ID which I put on an Android application and it'll just work, it doesn't matter if its behind a router. Now I've been trying to replicate this with coding but I have no idea where to start. I found this Android App to Stream IP Camera using P2P mode over Mobile port? Which is what I'm trying to do but still I'm lost as of how this works. Any ideas?

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