Your camera has an open collector output, so either the output is disconnected to anything when its off, or shorting to ground when its on.
The issue is that you want 3 conditions, forward, backward and stopped, but you only have 1 output.
One way to do it is to make a circuit that closes 1 relay on one 'click', and closes another relay on a 'double click', pretty much how a mouse button can perform 2 functions.
This would require a little circuit and some design work, a microcontroller would make it easy but it'll be possible with some simple electronics too, maybe a 555 and a 4027.