The article has a really big blind spot, in that it fails to mention the Drug War even a single time.
If you want to understand why America's police act like an occupying army- the militarization of weapons and approaches, the festering hostility between the police and the policed, the heavy-handed suspicion and disregard for those under their protection- then you have to start with the Drug War.
Policing against victimless crimes is fundamentally a different endeavor than policing against normal violent or property crime. In a rape, assault, or robbery there's a clear victim to come forward. Crime gets reported, police investigate, criminal gets arrested, community improves from having a violent psychopath off the streets. It's a simple formula, everybody's happy.
But when you're trying to police the crimes of drugs or prostitution or illegal lemonade stands, there is no aggrieved party. Just two or more people engaged in a mutually voluntary transaction. Hence there's no way to stop this activity besides butting into people's lives, violating their privacy, kicking down doors, and harassing random people on the street. You're no longer hauling away lunatics that hurt people. You're arresting mothers, sons, and boyfriends who are just trying to make a living.
If you want the police to be respected and valued by the communities that they police, then focus on restricting their activities mainly to victim-centric crimes. The resolution of which provides tangible value to the policed. Adopt a Portuguese-Style approach to drug policy, where usage and low-level dealing of drugs is decriminalized and treated as a health rather than criminal issue.