As long as the person is in a public area then there is no expectation of privacy which makes it legal to take a picture or video of someone or the people in public.
If the person doesn't want to be filmed or have a picture taken of them then they must remove themselves from the view of the camera or stay at home.
But even when they're in their yard and in public view you can still legally take a picture of the person.
You can go into any public building or lobby and take videos or pictures as much as you want too even if there is a policy about not taking film or pictures.
Policy is not law so you can still legally take pictures and videos in public areas.