I think it's clear what it means but indeed it's formulated in a critical theory framework (see also "male gaze" in feminist theory) that makes it seem more complicated.

Yes, they take camera images and videos and there is value judgment regarding the behaviors.

Reading between the lines, the authors criticize the approach of law enforcement around drug use and dealing, living on the street in tents etc.

But the language makes it sound like special academic expert language and hence automatically right and high prestige.