If you're comfortable with it, I strongly recommend going over to this guy's house and just asking him why he was there. I'm sure he'll make up a excuse, but you can tell him to please never do that again. This way he'll know that he can't get away with it and that you're watching. Will hopefully spook him from going into anyone else's yard too.

If you're not comfortable confronting him (no shame in that, many people are very non-confrontational), I'd show the footage to the police and ask what they'd recommend you'd do. That being said, I'd really recommend you communicate in some way to your neighbor that you know what he did and it's not okay. That'd make it very unlikely for him to do it again. You can even do it over text if you prefer.

You understandably sound a bit rattled. Just glad you had those cameras set up. You were prepared. Great job. Give yourself some time to think through it and take action when you're ready.