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Just because a cop has probable cause to search someone or something does not preclude the need for a warrant if the subject of the search refuses to give permission (exercises their rights under the 4th Amendment). There is an exception for exigent circumstances but nothing in the video indicates that such and circumstance occurred.
You are confusing traffic stops with the rules for a residence.
Traffic stops do not require a warrant (although some (few) cities and maybe some states may put this restriction on their own officers, it isn't a requirement).