Short answer: No.
It's only illegal to videotape somebody if there's a reasonable expectation of privacy. For example: in your own house, in someone's bathroom, at the tanning salon, etc
I'm pretty sure there's cameras in that Chick-Fil-A for security reasons, so there's no reasonable expectation of privacy when the company is also filming you. If you're in public anyone can videotape you as long as it's not done in a lewd manner (i.e. up a female's skirt).