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From my experience, connecting cameras and DVR's behind your router and giving access to them from the WAN varies depending upon the camera and DVR.
For some, I set the DVR to an odd, unused port, and setup a rule through the firewall. When access is requested on that port, it is routed to the DVR or Camera of interest. Be sure and include ALL ports used by the camera/DVR. Many times they accept UDP initially, then switch to TCP on other ports.
Other DVR's and Cameras do not provide flexibility on re-assigning their communications ports. The only luck I've had with these is to put them on the DMZ.
