Then surely those cameras should be available to the public as well. If anywhere a policeman can stand also counts as anywhere anyone can stand, and if it's a public space as you say, then the people have just as much right to see what's going on as the police. Public is public, right?
Is that not already the case with, for instance, police dash cams? Can't those be requested via the FOIA? (Except when the department decides the footage is "missing"/"corrupted"/"accidentally deleted"/etc., of course)