RICHMOND >> A man fatally shot by Richmond police officers last month held an AR-style rifle in his hands when officers encountered him in the bedroom of a home June 28, and the officers were fortunate to escape without injury, authorities said in a news conference at police headquarters Friday.

Richmond police Officer Alexander Caine and Detective Robert Branch each fired after shouting multiple warnings that they were inside a home in the 1200 block of Sanderling Island. Killed in the gunfire was 66-year-old Kevin McDonald, a resident of the home.

An elderly relative of MacDonald’s was also at the home when the search and shooting took place, police said. She was not injured or arrested.

Both officers are 16-year veterans of the department, according to police spokesperson Sgt. Donald Patchin. At the news conference, Chief Bisa French and Patchin identified the officers for the first time.

Body camera video of the shooting and still images of the weaponry found in the home were released to the public concurrent with the news conference. Patchin said and video indicates that officers announced their presence 13 times after arriving to the home at 9:09 a.m.

French said officers went to the home with a warrant after an investigation involving McDonald’s roommate, 63-year-old Jose Martinez, who had been arrested before the search. Authorities said they suspect him of illegal gun possession, making criminal threats and brandishing a weapon.

Martinez remained at the Martinez Detention Facility on Friday.

Officer-worn video shows police gathering outside the home, then making entry together, calling out repeatedly that they are police serving a search warrant. French said officers went through the garage “because the front door was inaccessible”; the home can be seen crowded with items in rooms and hallways as officers move through.

As they enter, the officers report contact with the elderly woman. They continue clearing areas around the woman, eventually heading upstairs.

The officers sweep the home, beginning to call out for “Kevin” as they move farther into the home. Checking multiple rooms with small alcoves — many filled with clothing and other items, blocking many avenues of movement — the officers eventually clear all but one room upstairs.

One officer, backed by several others, opens the final room’s door and spots McDonald. The officer shouts “Richmond police! Show me your hands!” then quickly shouts “Gun!” and fires on McDonald. He moves in and takes a gun out of McDonald’s hand as the man lies fatally wounded; multiple guns are visible around MacDonald in the room.

“McDonald was sitting on the bed with an AR-15- style rifle,” French said. “He pointed it at officers, and that’s when the (police) shooting occurred.”

Video indicated that McDonald also said something as officers entered the room.

“He does say something,” Patchin said. “I believe it’s something to the effect of, ‘Don’t come in here.’ It’s a little hard to make out. But he did say something.”

French and Patchin declined to comment when asked how many shots were fired by whom or how many hit McDonald.

“I cannot stress how lucky (the officers) were,” Patchin said. “As you can see, the weapons are in plain view and readily accessbile to Mr. McDonald as (officers) entered. This could’ve been very bad for our officers.”

Officers obtained the warrant after investigating two incidents earlier in the month in which guns were brandished.

French said Martinez was suspected of brandishing a gun at pedestrians from a car in the 900 block of West Cutting Boulevard on June 18, asking the victims, “Do you wanna get shot?” The victims provided a description of the suspect and said the car was a silver BMW with a red interior, she said.

Police also were investigating reports involving Martinez that he brandished a gun at pedestrians in the 100 block of Washington Avenue on June 26, French added. In that incident, she said, Martinez is suspected of pointing a handgun at two pedestrians, then firing two shots as he drove away.

French said the victims in the June 26 incident provided police a name and also described the vehicle as a silver BMW with red interior.

Police eventually found Martinez on June 28, driving on Interstate 580 near Regatta Boulevard, and arrested him, French said. During the arrest, he admitted to having three more guns at his home in addition to the ones that officers found in his vehicle, French said. The gun found in the vehicle did not match the description by victims of the guns used in the two earlier incidents, she said.

Five hours later, police arrived at the residence.

“The information we had was that there were going to be two individuals in the house,” Patchin said. “We had no information on the large cache of weapons we ultimately found in the house. The only information we had was that Mr. Martinez did illegally possess three additional firearms. The original intent was to retrieve those firearms from his bedroom.”

“I want to express my sincere condolences to the family of Mr. McDonald,” said French, who declined to answer questions. “The loss of a loved one is never easy, and I understand it is especially difficult under these circumstances.”

After the shooting, police found 53 guns in the home, including 48 in McDonald’s room, French said. Among those 53 were 17 ghost guns — privately manufactured weapons that don’t have serial numbers, she said.

Investigators also found a live grenade, gun manufacturing products and “well over 1,000 rounds of ammunition,” Patchin said. The federal Bureau of Alcohol, Tobacco, Firearms and Explosives also is investigating.

Patchin said McDonald was “not on our radar at all.” Both he and Martinez each had prior felony convictions that prohibited them from owning guns, police said.

The Contra Costa County District Attorney’s Office and Richmond police both are investigating McDonald’s shooting.