It's romantic if you want it to be - if you want it to be naughty and dirty, it's just that. If you want it to be romantic and intimate, it's that. Whether or not it's romantic is defined by how you both feel, not by how it is perceived by other people; afterall, it is a private thing...isn't it? Cameras definetly take away from the "intimacy", or "in to he I see"! (just thought that up, pretty impressed with myself).
If you want it to be romantic, lower the lights, light the candles, whatever makes you feel romantic. There's nothing saying adding sex into the equation makes it any less romantic.