Recording/taking images of any thing or person in public is legal except government buildings, schools, playgrounds etc. As someone posted earlier taking voyeuristic images (mainly upskirts) also became illegal about two/three years ago. It is when you publish/broadcast for commercial reasons then consent is required.
There are quite a few videos on YouTube, reddit and other platforms with videoed disputes where the person on camera says "you have no right to film me" only for plod to turn up and say yes they do.
Edit: videoed disputes in public places
