Judge Stephen V. Wilson of Los Angeles ordered the release of this video on Tuesday, July 14th, of Gardena police fatally shooting an unarmed man two years ago.

The city of Gardena paid $4.7 million to settle a lawsuit by the family of the dead man and another man who was wounded during the shooting. The judge believed that the public should be able to see what led up to the lawsuit.

Footage that was captured from three police car cameras shows the killing of 34-year-old Ricardo Diaz-Zeferino, who was stopped by police investigating a bicycle theft early the morning of June 2, 2013.

He was trying to help his brother find his stolen bike, but he was shot when he didn’t obey officers’ commands to stand still with his hands in the air.

He tried to tell the officers that two other friends they had stopped were the wrong men. Later, an autopsy found that he was drunk and had methamphetamine in his system.