Later Friday, the community will rally in support of a man who died after an interaction with police. Tanja Rekhi has more on video surveillance from that April night released Friday by police.

ALBANY, N.Y. -- The Albany Police Department released Friday the video from the night three police officers used a Taser on Donald "Dontay" Ivy in April.

A grand jury brought a no bill against the three officers involved in Ivy's death, but community members are still calling for action, and plan to with rallies around the city Friday evening.

Some protesters are calling for the firing of the three officers cleared of charges, but Albany Police Chief Brendan Cox said he stands behind them -- and that they followed procedure. 

Cox said Friday he wanted to release what they had for surveillance video from the night Ivy died to clear the air, adding it was an injustice not to release the video as it believes it led to misinformation. 

The video shows part of the foot pursuit, CPR being performed on Ivy, and of Ivy's puffer coat, where police thought he was hiding a gun. 

A lot of the video is dark and pixelated. Cox said cameras in the police vehicles aren't ideal to capture street encounters, and they now are investing in body cameras.

While Cox said his heart goes out to the family and understands their frustration, he said the officers didn't overstep their boundaries. 

"I mean we gave our condolences to them," Cox said. "We'll continue to give them our condolences to them. Unfortunately, our officers were doing their jobs. Again, nobody wanted this to happen. Am I sorry this happened? Yeah, I'm sorry this happened. I don't want anybody to die. That's the last thing I want to have happen is anybody to die."

Moving forward, officers are all going to receive crisis intervention training with the Albany County mental health department after community members said they were concerned Ivy allegedly was schizophrenic and paranoid. Protesters also are calling for the elimination of stun guns.

While Cox said he certainly doesn't like for people to be shocked, studies show stun guns prevent injuries to officers and people being arrested.