Employment Law Questions? Ask an Employment Lawyer.
Yes, if they plan terminate you you do have a right to see the video footage.
If there is evidence that you did take the food without paying. I would offer to pay for it and see if that appeases them but unless you have an employment contract then most jobs are at will meaning they can fire you with or without cause. In this case, they would cite for cause and you would not qualify for unemployment benefits. That is where you could challenge it and say it was a misunderstanding and see the video.
Let me know if you have any additional questions otherwise a positive rating would be greatly appreciated.