WATCH: Fatal police shooting of Baltimore gunman who set own house on fire and killed neighbors

Disturbing new body camera footage has emerged capturing when Baltimore County police shot and killed an armed man accused of killing three neighbors. The gunman was found outside his burning house with homemade explosives.

According to the Baltimore Sun, just before 7 a.m. on May 8, Baltimore County Police and Fire Department responded to a 911 call reporting a fire and an armed man on the 7500 block of Maury Road.

The man, who was later identified as Everton Brown, was reported to have had a long history of complaints from neighbors.

As the Sun reports, "Residents said the gunman lived in the community and had threatened and confronted neighbors, accusing them of spying on him for the federal government." Brown had been reported to police in the past, but according to Maryland law, nothing can be done until an actual crime is committed.

After Brown set fire to his own home via explosive devices, the flames spread, destroying the residence next door, and damaging a third. Neighbors recalled that while the fire was raging, Brown "was going door-to-door with a gun."

The Sun reports that "in addition to the gunman, two other men and a woman died in the incident." A fourth man was treated for non-life-threatening injuries at a nearby hospital.

The body camera footage released on Friday shows police arriving on scene to find one house fully engulfed in flames. Brown is spotted immediately and begins firing at officers. "Drop the gun!" one officer shouts, but Brown does not comply.

One officer, taking cover behind a parked car, then shoots Brown, who falls to the ground. More shots are fired. "He's still got the gun!" an officer shouts.

Police move in on Brown, who is now lying on the ground between two cars. "Show your hands!" yells an officer. "Hands! Hands! Hands!"

In the background, electricity can be seen crackling inside a house, as a woman on the ground calls for help. Officers drag Brown out into the street, and then go door to door trying to make sure everyone else is okay.