I did a bit more experimenting, by connecting a test lamp to a cable and plugging it in to various fuseways to see whether they are constant live. What I found is:
Fuse F25 is constant live (I think 22-26 are all constant, but I used 25)
Fuse F56 is switched on with ignition (well, when car is unlocked), but stays live for 6 minutes after the car is locked again.
(I think all the fuses around 467-57 are the same)
I also changed the camera settings to shut down if the vehicle battery drops to 12.5v, which has stopped the "battery drain" warnings when getting in the car.