But there's one important detail you missed: you need to check the specific legislation for your region, because it varies a lot between municipalities and even between states if you're moving across Brazil. In Portugal, for example, the CNPD (National Data Protection Commission) has well-defined rules, but there are regional differences. What applies in Lisbon might not apply in Braga, you know how it is.
In any case, the general principle is this: you can film public space (street, pavement) without issue, but you can't deliberately focus on someone else's property - windows, doors, balconies with visible routines. The fine comes when there's a clear invasion of privacy, not from having a generic camera pointed at the street. If your camera is simply at the natural angle of your balcony and happens to capture the street and pavement as a consequence, that's completely different from deliberately adjusting it to see what's happening at your neighbor's house.
Send an email to your municipal council or your region's data protection office with an exact description of what your camera captures - they'll give you a quick and documented response. That way it's also clear to your neighbor that you checked and everything's within the law, if that's the case.