The shooting took place two weeks ago at a home on Amity Street in Elizabeth.
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Officers were responding to a 911 call about a relative, 42-year-old Estiben Alegria-Hurtado, showing up at a home drunk and with a knife.
When police arrived at the apartment, the door was open, and Hurtado was scuffling with two other men.
The two men then released Hurtado, but the video shows he's still armed with a knife and close to a woman.
That's when an officer fired a single fatal shot, hitting Hurtado in the chest and killing him.
A woman could be heard saying repeatedly, "he tried to kill me."
Police are now under fire for not calling a mental health professional to help cool down the confrontation.
The shooting death of Hurtado was too raw and gut-wrenching for the family to process.
The family's spokesman said on Monday that the gunshot was unnecessary.
"In that video, it was not given any kind of command for Steven to drop the knife, it was not given any kind of command for police officers to identify themselves," civil rights activist Rev. Kevin McCall said.
No charges have been filed against the officers involved in the shooting, so far.
The New Jersey Attorney General's Office is currently investigating.
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