Hello
It sounds like a translation issue, as you plug your pc direct into your IPS modem its connecting via a public ip address, however when you connect via your router ( behind the isp modem), I am assuming it connecting on a internal lain interlace and this is were the problem lies.
If your already using NAT - you could try adding a static nat translation on the router for the cctv public ip & port
ip nat inside source static (tcp-udp) Local-ip (port) public_ip (port)
res
Paul
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Kind Regards
Paul