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Moments after Curtis Harris charged out of the Ralph’s grocery store in 4S Ranch, he started shooting.

San Diego police had just confronted the 46-year-old inside. Officers needed to serve him with an emergency restraining order in a domestic violence incident, and they suspected he’d stolen a car they’d located in the store’s parking lot. Harris was also known to carry a gun.

As soon as officers called his name, Harris bolted. In the parking lot, Sgt. Anthony Elliott saw him and gave chase, the two men shimmying between long rows of shopping carts. Harris vaulted a short wall at the end of the cart corral and turned back toward Elliott, gun in hand. The image is clear on the camera the sergeant wore, he was so close on Harris’ heel.

The scene that unfolded late Dec. 7 was made public Monday in dramatic camera footage released by the Police Department.

Harris can be seen opening fire, the sergeant’s hands falling from the nearby wall as the gun goes off. Three San Diego officers returned fire, killing Harris.