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Is it actually a vulnerability?

Or is this just the way the camera is supposed to operate (even if undocumented)?

It's technically the way the camera is supposed to operate but in order to find that mode of operation I had to disassemble and study a binary. I'll say it's not a user-facing feature.

The description sounded a little like it allows you to access any camera given a public IP address without authentication.

If it still requires user authentication it sounds like a useful feature that many users would appreciate!

The "authenticate itself" bit is what makes me curious. Is the tool authenticating with credentials this person created, a backdoor account left in by the manufacturer, or something else?

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