So, she was visiting his home, she was a prostitute, and had visited him at least eight times previously. And decided to video the encounter.
I strongly suspect that what happened was a play-acting scenario that the judge enjoyed, and which the hooker figured could take him down if she alleged it was not play-acting.
The moral of the story is don't play act rape with a prostitute, particularly when you are a judge who presides over criminal trials. However, if you do chose to play act rape with a prostitute, then try to refrain from boasting about how you can use your contacts with the police to get out of a rape charge.