nostr:npub1smhgktylyuqqv9dlnxj0aq65s3fzesh2fku47g9z5r6qt9napgasp9hvr3 Try TinyCam Monitor (and go with the Pro version for IP cam if it fits the bill)  It is available on Android, not sure about iPhone.  See the following  videos on youtube:  

https://www.youtube.com/watch?v=xqFitj4po1U
https://www.youtube.com/watch?v=98diXf0BuTg