I am not able to connect to my Whitelisted Chromecast through the given address (ip.address:9222) as mentioned here: https://developers.google.com/cast/developing_your_receiver#
The solution is to tick the "Send this Chromecast's serial number to Google when checking for updates" box and then "Reboot Chromecast". (Thanks, methai).
The issue was that there is a bug in the Android Chromecast app (in version 1.1.1), where this setting doesn't actually get saved. I can confirm the OS X client will save this setting properly, haven't tested the other versions yet.