Police say the officers saw a man fitting the description given in the 911 call and approached him.
Four of the officers fired a total of 10 bullets at Vassell, Monahan added.
Doctors pronounced Vassell dead after he was taken to Kings County Medical Center.
"There is no reason a police officer should be scribbling notes on little girls attending school, or noting what type of clothes someone wore to a store".
The video released Thursday shows Saheed Vassell aggressively pointing an object at pedestrians that turned out to be an L-shaped piece of pipe.
Vassell lived just around the corner from where the shooting took place.
Andre Wilson, who's known Vassell from the neighborhood for more than two decades, said he was harmless and well-known in the community.
The NYPD released a video compilation Friday from outside stores along Utica Avenue in connection with the police-involved fatal shooting of a 34-year-old man in Crown Heights.
Under an executive order issued by the governor in 2015, the attorney general has the power to act as a special prosecutor in cases involving police killings of unarmed people.
Vassell's father, Eric Vassell, told the New York Times that his son, a welder, had moved to the United States from Jamaica when he was 6.
But relatives of Mr. Vassell still questioned if he had to die.
"Better they should have some police who know people in the community", Willie said. "They should not train them to kill".
It says police had encountered the man before and classified him as emotionally disturbed.
'They just hopped out of the auto. It's nearly like they did a hit, Hinds said.
Kacey Byczek said in a Facebook post that the shooting happened a few blocks from her home. Was Saheed Vassell given fair warning?
Democratic Mayor Bill de Blasio (dih BLAH'-zee-oh) called the shooting a "tragedy" and said Vassell had "a profound mental health problem". That outraged black residents in the Crown Heights neighborhood.
Vassell's death comes amid heightened tensions nationwide regarding police accountability.
Again, per the calls, de Blasio defended the officers.
"Let's play out the scenario had it been different", he said.
A third caller said the man is holding a gun.
Three callers dialed 911 reporting his actions. "We have to stay straight on the facts of this incident".
Clark, who was killed, was actually holding an iPhone. "Though he suffered from mental health challenges, he was no criminal", Clarke, the daughter of Jamaican immigrants, who represents Crown Heights, among other neighborhoods, in the 9th Congressional District in Brooklyn, told Caribbean Life.