HOUSTON, Texas (KTRK) -- Body camera footage released Friday shows the moments four Houston police officers opened fire on a longtime security guard who they say had pointed a rifle at them.

The video shows Walter Howard, 54, pointing a rifle out of the window of his SUV as he's pursued by police on May 7 in southwest Houston.

The shooting occurred a short time later on Buxley Street, after police say Howard turned the rifle on them.

"My brother would not do that. Anybody (who) knows him will tell you he loved the police," Howard's sister, Patricia Youngwood, told Eyewitness News days later.

HPD said undercover officers initially became suspicious after Howard approached them wearing tactical gear while holding what appeared to be a rifle case.

Police say the undercover officers call

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