Basically, you need...
1) Objects > Services
Make new TCP service tcp-7000 with destination 7000 (keep source by default)
2) Rules > IP rules
Make rules
SAT wan/all-nets core/wan_ip tcp-7000 (SAT: new source = 172.16.0.101)
Allow wan/all-nets core/wan_ip tcp-7000
3) Make port mapping on your DSL-2640U (or better change its mode to bridge and assign to DFL public IP address)
4) Set DFL as default gateway for cam.
But, it's basics. Some webcams use other ports and/or assynchronous mode. In this case, your task is impossible.