OP what this man has done is illegal.
He's committed a crime against you in your own home.
It's illegal to record anyone without their consent in a private residence in an area in which they can 'reasonable expect privacy' e.g. a bedroom where they are likely to change or a bathroom.
You can still report this. Do you have any messages between you in which he acknowledges what he's done?
I'm so sorry to say this but it's a very real possibility he may have shared the footage and also a very real possibility that he's filmed you in other parts of the house without your knowledge. And that he hasn't stopped doing it but has just been more careful.
You simply cannot have a healthy, happy relationship with this man. That is not possible due to his actions. So you need to decide whether you spend the rest of your life with a man who has betrayed your trust and committed a criminal offence against you, then chastised you for not wanting to be intimate with him afterwards, or whether you choose freedom.
You have children and yes that complicates things - nobody is saying a split is ever easy. But do you really want them to grow up witnessing this dynamic? At best, a mother who becomes a shell of herself due to the trauma of what her husband has done. They won't witness a happy, healthy relationship so the longer you stay with him, the more likely it is that your boys will replicate this dynamic (unhealthy, unhappy, unequal) in their own relationships as adults.
It's often more selfish to stay than it is to leave. Let that fuel you.
And please consider still reporting, especially if you have any messages / emails where he acknowledges what he did.
I'm so sorry OP. But life could be so good in future without this man and without feeling spied on in your own home. You can have a safe, relaxed, lovely home without him.