An Orange County Superior Court judge today ordered two Fullerton police officers to stand trial in the 2011 death of Kelly Thomas, a mentally ill homeless man.

Officer Manuel Ramos, 38, is charged with second-degree murder and involuntary manslaughter. Cpl. Jay Cicinelli, 40, is charged with involuntary manslaughter and using excessive force.

Although their defense attorneys suggested emergency medical workers -- not the police officers -- caused Thomas' death by failing to provide prompt care, Judge Walter Schwarm determined after a three-day preliminary hearing that there is enough probable cause for the case to go to trial.

PHOTOS: Kelly Thomas dies after run-in with Fullerton police

Orange County Dist. Atty. Tony Rackauckas presented the case himself, playing a dramatic, never-before-seen video that showed a shirtless Thomas being pummeled and held down by Fullerton police officers. As the video played in court, many in the audience gasped and groaned. Some stood up and walked out. (It also may be disturbing to some readers.)

The 37-year-old Thomas can be heard screaming, "Dad, they are killing me." He repeatedly shouts, "I'm sorry. I'm sorry."

The case has rocked the north Orange County city, where scores of people have protested and staged memorials. And the graphic video became an instant touchstone for those who advocate for a more robust and effective mental health system. Advocates for the mentally ill said they viewed the recording, the centerpiece of the prosecution's case against the two officers accused in Thomas' death, as something akin to their Rodney King video.