According to the Direction Générale du Trafic Aérien (DGTA), it is normally forbidden to fly your drone in public space, particularly over and around inhabited areas of towns and cities. Authorizations issued by the DGTA clearly state that "it is the responsibility of (the applicant) to ensure that he/she has applied for and obtained all necessary authorizations, approvals and derogations to be able to undertake the operations envisaged".
To film images using a drone, you therefore need authorization from the DGTA and from the communes concerned, which are competent to authorize take-off, landing and filming in public space.