I'm not preaching so dont shoot me!
I wouldn't dare fly Icarus in a congested public area. I generally find here in the UK people either love them or hate them ... there is no in between. They seem to forget that I can get a camera out on a beach and take pictures without issue. Put a camera on a UAV and people get hostile. I get the whole "it isn't safe" (nor lawful in the UK) to fly in congested areas (even within 50m of a person!). And personally I don't think I'd be able to relax on a beach knowing there is 1kg of face shredding danger hovering above, IMO it isn't a suitable place to fly something that could have a mechanical failure without warning, nor having you plan A, B landing area always clear. It's only a matter of time before a UAV causes a serious injury or accident .... at that point we'll be even more restricted.
If I want to film something I ask first. Stating that it'll go on youtube if the finished product is any good. That generally gets people excited and on side.