That's kind of a disturbing picture. When I first read your description, I kind of assumed that they were hunting or on their way to hunting. But they're certainly not dressed for hunting - no license on his back. So, what's he doing with a gun on your property... and looking into the woods like he is hunting for something. And why's he carrying what looks to be some sort of AR variant on your property? And, what's on his hip? Another gun or some big knife? Regardless, it looks like he's trying to be bad-@$$ to his daughters.
I would definitely go talk to him and record the conversation. And, even if the conversation goes well, I would off load it from your phone and save it to a CD or something. Never know when you might need it. Years ago I had to go back through recorded conversations from a couple of years prior to get what was owed to me.
Don't be confrontational and I wouldn't mention your cameras. Just say that someone saw him heading down your driveway, with a gun and some teen-aged girls on such-and-such date.
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