tl;dr Generate a QR code with the plain text content:
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sid="[yourNetworkSSID]";psk=[YourPassword]
For the C-Series cameras the stream URLs are
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1920x1080@25fps rtsp://[ip]/video1
640x360@25fps rtsp://[ip]/video2
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sid="[yourNetworkSSID]";psk=[YourPassword]
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1920x1080@25fps rtsp://[ip]/video1
640x360@25fps rtsp://[ip]/video2