Taking photographs and videos of things that are plainly visible from public spaces is your constitutional right. That includes federal buildings, transportation facilities, and police and other government officials carrying out their duties. Unfortunately, law enforcement officers often order people to stop taking photographs or video in public places, and sometimes harass, detain or even arrest people who use their cameras or cell phone recording devices in public.
The ACLU of Pennsylvania has filed multiple lawsuits on behalf of individuals who were arrested for observing or recording police in the course of their public duties.