You can definitely use those cameras without xfinity services in a DIY project or like a baby monitor. You need to factory reset them and you need a special Y-addapter cable to be able to connect to them and configure them direclty. I have 4 of those cameras that are left over from former XH security system and I have repurposed them for my own system. Look up how to reset icam1000 or icam2, the procedure is very similar except that you have to reset the camera and the XW3 "power adapter" as well with paper clip through the pin hole. You may get lucky and be able to connect to it via WPS without Y-cable, I have not tried that though.
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