SAN JOSE — Activists took to the streets, and a freeway, Tuesday evening  to march in protest of the Memorial Day shooting of 31-year-old Demetrius Stanley by a police officer who authorities said was “gathering information” about Stanley for a criminal investigation, but ended up killing him in an armed confrontation.

Marchers started at San Jose City Hall with the aim of heading to San Jose Police Department headquarters about two miles north, and began walking onto Highway 87 parallel to Guadalupe Parkway.

With California Highway Patrol officers looking on and a police helicopter circling overhead, more than 100 protesters made their way along the elevated roadway before heading back onto surface streets and arriving at the police department.

The assembled crowd chanted mantras like “No justice, no peace” and “Take it to the streets and f*** the police” as they ended their march facing the police department entrance. Police officers, if they were present, were not highly visible as protesters arrived.

Stanley, who was identified in banners and memorial materials at City Hall, was shot around 9:40 p.m. in front of a family home on Tofts Drive in North San Jose, near Flickinger Avenue and Berryessa Road.

San Jose police said two officers were in the area gathering information for an unspecified investigation involving Stanley. The police department later said one of the officers opened fire after the man pointed a gun at him.

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Police late Tuesday afternoon released still images showing what they say was Stanley holding a pistol and aiming it at an unmarked police car, which they say precipitated the shooting. A news conference, in which police are expected to reveal additional details, is scheduled Wednesday.

But family members and some of those participating in the protests said they viewed a neighbor’s home-security video that captured the confrontation and accused the police department of withholding key details about the shooting, including that the officers were in plain clothes, in an unmarked vehicle, and did not announce themselves as police.

Their conclusion, based on those circumstances, is that Stanley was not aware he was confronting police when an officer shot him from inside the unmarked car.

The Monday night shooting marks the second fatal police shooting of the year by San Jose police. On Jan. 21, officers shot and killed 27-year-old David Tovar Jr. in the courtyard of an apartment complex in the city’s east foothills. Tovar was unarmed. He had been sought by authorities in connection with a homicide in Gilroy and other violent attacks in South Santa Clara County.

Tuesday’s march was led by the groups HERO Tent and BLACK Outreach SJ, which were galvanized in the wake of last year’s downtown demonstrations protesting the police killing of George Floyd in Minneapolis. Those demonstrations drew national attention and scrutiny to San Jose because of the police department’s violent response to protesters.

Check back later for updates to this story.