While reading through the Securing Cisco Video Surveillance Manager Release 6.x: Best Practices and Recommendations document on cisco.com and comparing TAC testing results, we discovered an inaccuracy in the published document.
Note that the UDP range of 16000-16400 applies to the 2421, 25xx and 4xxx series cameras. If we discover differences in behavior for other cameras we will post here and correct our docs. I wanted to bring this to your attention for those partners and customer who configure firewalls to pass RTSP UDP traffic from a camera to the media server.
I hope that helps,
Jim Firanzi