Viewing xfinity security camera via Tivo

I have several Tivos and also have xfinity home security and some cameras. Comcast advertises that you can view the cameras on your TV. I can't do this -or haven't figured out how to do it via my Tivos. I don't have a comcast box and don't want one. I am curious as to whether there is a way to monitor my xfinity cameras on my tv using a TiVo or whether I'm out of luck without a comcast box.