from what i see on th evideo the driver is 100% to blame for the collision. He pulled out without looking properly. I would have assumed the driver would have done this and taken evasive action, most drivers do this even though it is dangerous and poor driving. The cyclist was wearing hi vis. The driver was totally to blame.
How the cyclist then reacted after the accident was less than ideal tbh. I can understand his anger totally, and in the heat of the moment I'd forgive him his words. However it would have been better if he'd taken a few moments to calm down before confronting the driver. That said I think the rider was worried the driver would drive off, which he did at one point look like he would. The driver to his credit did stop and apologise and offer his contact details etc. I suspect he did this once he saw he was on cycle cam.
Thankfully no serious injury, it could easily have been much worse. Hopefully the driver will be more bike aware from now on. I'd also encourage the rider to anticipate idiot driving like this better.