Maryland is an "all party" consent state meaning that all parties to a conversation have to agree to be recorded (audio). Anything less is a felony.

Video recording is legal in a public place.

Agree with the police officer's actions EXCEPT, he should have more quickly identified himself and it should never have gotten to that point in the first place as the uniformed officer in the marked cruiser should have been the one to make the traffic stop.

He pulled his weapon because he felt threatened (arguably but that is the individual officer's call, but he should be asked to articulate why he felt threatened). He never pointed the weapon at the motorcyclist and quickly re-holstered.

Full disclosure...Maryland resident, non-Maryland LEO.