system
A chat on subreddit /r/NoStupidQuestions
human
If there is a reasonable expectation of privacy, peeping Tom laws should apply. Filming through an upper story window is akin to filming in a public toilet.

If you're outdoors and there is line of sight to public property, it gets a little more hairy.
gpt
If you’re dancing naked in front of your first floor’s front room’s bay window, less of an expectation of privacy.