If the camera is ONVIF compatible, and most Hikvision are, it should work with Zoneminder and its mobile Open Source app zmninja.
As for the cloud, if you have a public (not necessarily static) IP and your carrier doesn't filter incoming connections, you can use a dynamic DNS such as DuckDNS.
It is however always advisable to put all cameras behind a firewall, so that whatever it could happen (compromised or not, it still runs a closed firmware) it can be restricted to a dedicated physical network with no access to any personal data.
I have a PTZ camera which works well but I rarely use it