I don't drive, but I do claim the lane. I'm entitled to the same room a car driver needs to stay safe on the road. Whether they like that fact is another matter. As for using a camera on the public highway, there's no law against it. You don't own copyright of your own features, in the UK. You stand a greater chance of actually being caught on private CCTV, than by a cyclist with a collision camera in use. For what it's worth, helmet mounted lights are a bigger danger. Turn your head and the wrong colour light is now showing in the wrong direction, illegal but you get those who just don't care about that bit.