The video below is dash-cam footage from the patrol car shows 29-year-old Jose Soliz fumbling with a backpack and a handgun.
FULL VIDEO: Madera Police share footage of armed man killed by officers Saturday night
After 8:20 p.m. Saturday, Madera Police officers responded to a call of a man with a gun near Ellis Street and Merced Street.
Officers say they attempted to de-escalate the situation and bring the situation to a peaceful end.
They say Soliz did not respond and when he allegedly pointed his gun at officers, one of the officers fired three rounds, hitting Soliz once.
Madera Police say armed man was shot and killed by officers Saturday night
Police say life-saving measures were given, but he died from his injuries.
Police later discovered that the gun Soliz had was previously reported stolen.
No officers were injured.
The officer involved were placed on administrative leave per Madera Police policy and the investigation has been turned over to the Madera County Sheriff's Office.