A grand jury says a New Jersey officer did not break the law after shooting a man in his own backyard.

Officer Kyle McQueen shot and killed Marvin Taylor, 57, in Pemberton a year ago.

Jurors reviewed body camera video, including the moments when officers told Taylor to "put the gun down" before shots were fired.

Police and volunteer firefighters had gone to Taylor's home because smoke was coming from the property.

The state attorney general says Taylor pointed a rifle at a firefighter, then later fired at two officers.

McQueen returned fire, killing Taylor. No one else was injured. Investigators say Taylor started the fire on purpose.