The video shows the moment a man lunged at officers with two knives attached to metal pipes.
Police opened fire, killing him, after police say they attempted to tase him first.
The shooting happened after the man refused multiple commands to drop the weapons.
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The shooting happened just after 2 p.m. on July 13 in the 4000 block of International Boulevard, where the California Highway Patrol had called for assistance, according to the Oakland Police Department.
CHP officers had encountered the man at a homeless encampment, where he threatened them.
OPD says it believes the man killed was 43-year-old Jose Angel Castillo.
The department is asking for the public's help to identify his next of kin.