I figured it out. Actually it is pretty easy. I setup a dynamic dns name to my external ip address. I then changed the camera server's port number and password. (BTW this is a big hole - everyone should change the default no password). I then did port forwarding from a selected port to the LAN ip address with the new port number. I log into the camera server and have access to the camera and the camera server. I am basically bypassing the P2P directory server.
Edit:
I see now that P2P is to make it easy for mobile device apps to find the camera. However, it is also possible to use the device's browser. These cameras have major security holes. My camera had a default port of 80 and no password (and a dumb userid). The P2P default password is not much better. No wonder there are 100,000 publicly viewable cameras out there. Most cameras are made in China. That gives them a big window to look at the world if they wish. I may disable P2P if I can.