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Video captured by a camera in the car of police officer Jeronimo Yanez shows him shooting into the vehicle at Philando Castile during a traffic stop.Credit:Police/AP

The video begins in silence as Yanez follows a white Oldsmobile driven by Castile on a lightly-traveled road. After pulling Castile's car over,Yanez exits his cruiser and tells Castile his brake light is broken.

After Castile discloses he has a firearm,Yanez can be heard saying,"OK don't reach for it then."

Castile responds,"I'm,I,I was reaching for,"but before he finishes,Yanez,with right hand on his holster,says,"Don't pull it out."

"I'm not pulling it out,"Castile says.

John Thompson carries a large photo of his friend Philando Castile during a demonstration on Sunday.Credit:Star Tribune/AP

The exchange takes less than a minute before Yanez fires seven shots.

Five rounds hit Castile and two pierced his heart,prosecutors said. Another officer,standing outside of the vehicle,can be seen jumping back in the video.

Protesters in St Anthony,Minnesota,in June after the verdict in the Philando Castile case.Credit:Star Tribune/AP

Yanez,the son of a Mexican immigrant,testified during the trial that he feared for his life after Castile began reaching for a firearm. That alleged action cannot be seen in the footage released Tuesday and Castile's girlfriend,Diamond Reynolds,testified at trial that he never reached for the handgun he was licensed to carry. She said on the livestream he was reaching for his wallet to identify himself.

Jurors acquitted Yanez even though prosecutors said he was not justified in firing his gun,saying Castile was courteous and non-threatening.

Reverend Laurie Bushbaum,a Unitarian minister,carries a sign that showed how she feels about the Yanez verdict during a demonstration on Sunday.Credit:Star Tribune/AP

Yanez will not return to active duty,the city of St Anthony said,adding that it was negotiating a"voluntary separation agreement"with him.

Castile's family plans to file a civil lawsuit in federal court,a spokeswoman for the family's attorney said.

Reuters