The family of a black woman killed in her own home by a white police officer have accused the officer of murder.
Atatiana Jefferson, 28, was killed in her home in Fort Worth, Texas, while looking after her eight-year-old nephew.
A neighbour had called police on a non-emergency line when they saw her front door was open. Police responded at about 2.25am.
Fort Worth Police said officers saw someone near a window and one of them drew his duty weapon after "perceiving a threat".
Lee Merritt, an attorney for the family, said the bodycam footage showed the officer would not have had time to perceive a threat from Ms Jefferson.
He said: "You didn't hear the officer shout, 'Gun, gun, gun.'
"He didn't have time to perceive a threat. That's murder."
The video released by Fort Worth Police shows two officers searching the home from the outside with torches, before one shouts: "Put your hands up, show me your hands."
One shot is then fired. The officer does not identify himself as police.
Ms Jefferson died of her injuries in her home.
Amber Carr, Ms Jefferson's sister, said: "It's another one of those situations where the people that are supposed to protect us are actually not here to protect us.
"You know, you want to see justice, but justice don't bring my sister back."
One of her aunts, Venitta Body, said: "It's like from the moment we got the call, it's been more and more inconceivable and more confusing. And there has nothing been done in order to take away that confusion."
Fort Worth Police said the officer, who has been with the force since April 2018, is on administrative leave pending the outcome of the investigation.
His name has not been released.
The neighbour who called police about the door, James Smith, said he feels "it's partly my fault".
He said: "If I had never dialled the police department, she'd still be alive.
"It makes you not want to call the police department."
Ms Jefferson's nephew usually lives with an older woman, who has been in hospital.
Fort Worth Mayor Betsy Price released a statement on Saturday which said: "Writing a statement like this is tragic and something that should never be necessary. A young woman has lost her life, leaving her family in unbelievable grief. All of Fort Worth must surround Atatiana Jefferson's family with prayers, love and support.
"Chief Kraus and his command staff are acting with immediacy and transparency to conduct a complete and thorough investigation. More details are forthcoming and the Tarrant County District Attorney Law Enforcement Incident Team office will ultimately receive this case."
Mr Merritt said the family of the victim expects "a thorough and expedient investigation".
Fort Worth Police Department said it released the bodycam footage from outside the home to show its transparency, but cannot release the video from inside the home because of state law.
The shooting comes two weeks after Amber Guyger, a former Dallas police officer , was sentenced to 10 years in prison for killing Botham Jean in his own apartment.
She shot him with her service weapon when she went into his home by mistake, thinking it was her own.
Mr Merritt is also the Jeans' family lawyer.