The man killed was 39-year-old Jason Harrison. He had a history of mental illness and lived with his mother.
His mother called police last June because Harrison was out of control, and officers John Rogers and Andrew Hutchins showed up.
Not everything from the video can be seen because only one of the officer's body cameras was working.
"How you doing, ma'am?" An officer is heard saying on the video as he arrives to the front door. "What's going on?"
Harrison's mother: "He's just off the chain...incoherent."
Officer: "Who is that?"
Mother: "…Talking about chopping up people. My son. Bipolar, schizo."
Harrison is seen standing at the front door with a screwdriver, all less than three feet from the officers.
"What's going on?" Harrison asks.
Officer: "Will you drop that for me? Drop that for me, guy."
Harrison: "Nah, I ain't."
Then, police and Harrison's mother raise their voices. Harrison doesn't follow commands and continues to hold the screwdriver.
Officer: "Drop it! Drop it!"
Both officers then open fire, hitting Harrison five times.
"Does he make some movement toward the officer?" FOX 4's Shaun Rabb asked attorney Geoff Henley, who is representing Harrison's family.
"What you cannot see is him assaulting either officer. You do not see that," Henley said, lunging forward.
"Does he move toward the officer?" said Rabb.
"Well you can see there's movement from the…I mean, he is in the threshold in the beginning, and then toward the end, he's on the porch," said Henley.
"The suspect does break the plane of the doorway and head at the officers as he raises the screwdriver at them," said attorney Chris Livingston.
Livingston represents both officers involved.
"First, these officers are already backed up by a car," he said. "There is nowhere for them to go…when he comes out of the doorway, he is mere feet, if that, from these officers. He's already within striking distance, and a single blow from that screwdriver could have killed one of the officers."
Henley has filed a federal civil rights violation lawsuit on behalf of the family and says the force, in his opinion, did not fit the moment.
"Again, we do not see this," Henley said, lunging forward. "We see a confused man who is holding an object."
Dallas police say the criminal investigation is completed and has been forwarded to the Dallas County District Attorney's office.
"He didn't view it as a weapon the way someone on the other side would, and I don't think he realized the danger he was in when he came to that door," said Harrison's brother, David.
Both officers are back at work, off of administrative leave, retrained on new weapons and back on the street.
The lawsuit filed by Henley is set to take place in federal court a year from now. Henley is not saying how much the family wants in damages.
The question Henley and Harrison's family all along has been, could there have been another way to end this confrontation without deadly force? Could the officers have used some less lethal measure of force?
Those answers are yet to be determined.