The scenario you provided raises a lot of questions and potentially is illegal. If you are frightened I recommend you remove yourself from the home as quickly as possible and find a safe place to spend the night. Trust your instincts, there is probably a reason you are frightened. Do not be afraid to call the police.
If your husband has been monitoring you without your consent it could be for a wide variety of reasons. Your husband may be selling the security feed onto the internet for voyeurs to watch you. If his friend is in on it there could be a reason to charge him under our relevant voyeurism statutes. The reasons could be more innocent, or worse than I imagine.
Either way, I'd go with my gut feeling and get out of there.
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You know him better than any of us would, but it does raise a red flag in my mind about his potential for abuse. You may want to contact your local domestic violence shelter for some assistance in devising a safety plan making any decisions about how you want to handle the situation. I don't think I would just confront him with it without consulting with someone familiar with the dynamics of domestic violence first.
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A "security system" you were not aware of, particularly one that "he also has a third person on it," is quite suspicious. It smacks of voyeurism.
Document everything and discuss it with a family law practitioner. The FL and your county bar association can provide referrals.
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That's really creepy. You should consult with a family lawyer.
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