How many public ip address do you have? Are you using the outside interface ip address for NATing? or you have spare public ip address for the web camera NATing?

If your camera is connected to the inside interface, and for example having ip address of 10.1.1.5, and you only have 1 public ip address assigned to your outside interface, then you can configure the following:

static (inside,outside) tcp interface 80 10.1.1.5 80 netmask 255.255.255.255

static (inside,outside) tcp interface 443 10.1.1.5 443  netmask 255.255.255.255

However, if you have spare public ip address to use, you can configure 1 to 1 NATing for your web camera, and assuming your spare public ip address is 100.1.1.5:

static (inside,outside) 100.1.1.5 10.1.1.5 netmask 255.255.255.255

To allow inbound access, you would need to configure access-list. Double check if access-list is already assigned to the outside interface: sh run access-group.

If ACL is already assigned, use the same ACL name to add the above access.

Example:

access-list outside-acl permit tcp any interface outside eq 80

access-list outside-acl permit tcp any interface outside eq 443

OR/

access-list outside-acl permit tcp any host 100.1.1.5 eq 80

access-list outside-acl permit tcp any host 100.1.1.5 eq 443

Hope that helps.