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The difference is if you are actively filming, or the camera is set up to film by itself. Security cameras are in the latter category and therefore can only be used on your own property (you can allow someone else to do it on your own property, such as a security firm).
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That depends on who has set up the security camera and what area it covers.
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How so? You mean businesses vs private individuals filming the street? Or police, for example?
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Depends on a country, but yes, police generally has more privileges in that regard. The laws here are also different for casual public filming vs. permanent camera or otherwise targeted filming (without consent) in public space. It also matters what you do with the material. I actually don't know if businesses are anything special compared to individuals in that regard. They can, of course, have security cameras filming their private properties (like individuals can) as long as they are open about it. And again, they can't use or spread the material however they want.
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