My router model is Actiontec MI424WR-GEN3I, firmware version is 40.21.24
I have set the fire wall policy to low, and still, I can access the camera through http://$my_public_ip:$port, but the mobile app could not add the camera to my web account. If I set the camera use port 80, I can see the live feed from my mobile app, although it timed out when I tried to add it to my cloud account. Once I changed the port, the mobile app can never access the camera locally any more. It is understandable since the app didn't know the camera changed the port number, but I have to do this, since I need to reserve port 80 to something more important. To me, the mobile app needs improvement, i.e. allow users to define port numbers for each device.