A judge on Thursday found NYPD Sergeant Hugh Barry not guilty of all charges in connection with the 2016 shooting death of an emotionally disturbed Bronx woman back in 2016.

Barry was charged with murder, manslaughter and criminally negligent homicide.

The nine-year veteran chose a bench trial, which meant a judge heard the case instead of a jury.

Barry testified that he shot Danner in self-defense after she swung a bat at him.

During closing arguments Wednesday, Barry's attorney tried to re-create the situation by picking up the bat used by Danner.

He argued that his client feared for his life.

But prosecutors say he did not follow proper procedures and should have called in a specially-trained unit to handle Danner.

In a statement, Bronx District Attorney Darcel Clark said her office was "disappointed" in the judge's decision and that changes are needed when it comes to adressing people with mental health issues.

She went on to say, "There must be serious reforms to improve access to treatment so the situation does not rise to a crisis. Mental health professionals should be part of the response to emotionally disturbed persons. I hope that measures will be taken to prevent another tragedy such as this."