In the USA, anything seen from a public space, including the air, the street/sidewalk, even aimed at your yard, is legal. In most cases you can even film on som

In the USA, anything seen from a public space, including the air, the street/sidewalk, even aimed at your yard, is legal. In most cases you can even film on someones private property if there is easement. There are exceptions, but rarely. Privacy was assumed, but never protected here.