|First, ensure you have the two routers setup correctly.|
Click on my name above in this response and read my “how-to” guide titled, “Add a second Router to your LAN”
Once you have the two routers, and therefore your entire LAN, working properly you can add your cameras.
I would recommend using static IP's for the cameras. Check the DHCP Scope on the router running the DHCP server service and pick two IP's that are outside the scope so as to avoid the possibility of duplicate IP's on your LAN.
Configure the camera(s) with the IP(s) and connect them. You can test connectivity by pinging the cameras from a PC.
Once you have them communicating properly on the network then you'll need to read the camera documentation for info on how to "see" what the camera's see. Usually it's a direct connection to the camera or monitoring software which has to be installed on a PC. Read your manual(s) for that info.
It matters not how straight the gate,
How charged with punishments the scroll,
I am the master of my fate;
I am the captain of my soul.