An officer "peered into a window of the RV" and saw Armstrong, according to the Police Department's description of the incident. One of seven body-camera videos released by the Police Department shows an officer rush back to his colleagues after looking in the window.

"Hey, we got him! We got him," the officer says. "He's in there! He's in there!"

The body-camera footage shows several officers assembling behind the RV. They ordered people out of the vehicle -- police say three occupants emerged, including a woman with a large barking dog visible on the videos. The officers ordered her to stay down and hold the dog while they continued to call out Armstrong.

Then two shots the Police Department says were fired from inside the RV rang out. Video shows officers scrambling for cover and beginning to fire. One fell, then another tripped over him. They both continued firing.

A total of seven officers unleashed a fusillade from handguns and assault rifles at the RV for more than 10 seconds. The woman with the dog appeared to still be near the vehicle, though her figure is redacted in the video.

Police then moved back and continued to order Armstrong out.

Armstrong, 31, surrendered at 2:15 a.m. He's charged with murder, eight counts of attempted murder, carjacking, being a felon in possession of a firearm, discharge of a firearm and receiving stolen property, according to the Police Department.

The department identified the officers who fired their weapons as Glennon Griffin, Anthony Sharron, Robby Wilkom, Matthew Nazar, Gregory Buhagiar, Steven Oesterich and Christopher Cotter.

Police homicide and internal affairs investigations into the incident are ongoing. The District Attorney's Office and Department of Police Accountability are also investigating.

SFPD Commander Greg McEachern told the San Francisco Examiner at a Tuesday night meeting about the shooting that officers would be interviewed "to determine why they shot the number of shots that they fired.”