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Officers fired more than 80 shots at 30-year-old Jose Walter Garza during a confrontation early Saturday at a truck stop in Laredo.
Police said Garza "put his finger on the trigger guard and pointed at the officers" before they opened fire.
Six officers were placed on administrative leave following the fatal shooting.
"These officers, although justified, are going to have to carry that around with them for the rest of their lives," said Chief Ray Garner, of Laredo police. "I've been in contact with all six of the officers from that evening through today. They seem to be holding up. No officer goes to work thinking they're going to kill somebody."
Surveillance video does not show Garza threatening the officers, but it does show police shoot and then handcuff him.
Relatives said Garza could be disruptive when he didn't take medication prescribed for schizophrenia.
A cousin said police shot Garza so many times he "had no face."
"He wouldn't get aggressive, he wouldn't hurt anyone," cousin Andrea Martinez said. "He's a good kid. "Why didn't they shoot him in the leg, or the arm or something? Not like that."
Watch video from the incident posted online by Laredo Morning Times:
All thanks to the "no hesitation" training they receive.