Can a restaurant manager call the police if I chose not to tip?
No, once you have paid your bill you have fulfilled your legal requirement to the restaurant
Whether it is a good idea not to tip is another question.
You will find very many questions here on this topic that is specific to the United States and Canada, that are asked by Europeans, Australians and New Zealanders.
Many answers explain the reasons why, but more importantly how, when, where and how much one should give.
The first question given below contains a Tips Statistics which gives a nice overview for those unfamiliar with the topic.
The second question gives a perspective from the viewpoint of someone who works in the service industry in one answer, but also answers about 'gratuity'.
Both questions, taken togeather, should give enough information about tipping in the United States and Canada.