EDITOR'S NOTE: The video above is from a previous broadcast and will be updated.
The shooting happened on June 5 at a home on 11th Street and Burns Avenue regarding a disturbance involving the family's son, who had arrived armed with a gun.
In the video, you can hear the mother of Ricardo Leon tell dispatchers that she had recently filed a restraining order but it hadn't been processed.
The woman told police that Leon was in the backyard.
One of the officers noticed he had a gun and immediately told him to drop it.
Leon can be heard on the officer's bodycam footage saying that he wanted them to hurt him.
Fresno Police Chief Mindy Casto said officers attempted to de-escalate the situation before gunfire erupted.
Shots then rang out between Leon and another officer who was on the other side of the house, away from the two officers trying to de-escalate.
Leon was ultimately shot and declared dead at the scene.
Authorities also noted that this was the first shooting this year involving the discharge of a Fresno police officer's firearm.