Last year the regional staff told us we had to have the radio in bridge mode, which worked fine and was "the rules." You can connect everything, including the camera, to the radio and they will communicate. You may have to configure the camera differently than if you plugged it into the cRIO, I'm not sure. Try it and see. If it doesn't work, try the camera setup tool (similar to the imaging tool).
In AP mode, the bridge creates its own network (the name is your team number) and handles the network part of the communication (AP means access point). This looks like a WiFi network to computers, phones, etc. and causes interference for the field.
In Bridge mode, it only tries to give wireless communication abillities to your non-wireless system (it's "being the bridge" in the connection), and will try/will be able to connect to a network. This is what it does on the field, it connects to the field's network. But it won't set up, manage, and broadcast the existance of a wireless network (as AP mode would do instead). But it does have 4 ports, so in the pits you can basically use it like a switch and
wirelessly connect (tether) the parts of the system (in bridge mode).
That's my understanding; please correct me if I'm wrong.
Hope that helps!