Prosecutors had argued during the trial that Yanez never saw a gun, was nervous and used deadly force recklessly in shooting a courteous and cooperative Castile, while Castile's girlfriend and her 4-year-old daughter sat in the auto.
Last Friday, a jury found Yanez not guilty of all charges - both manslaughter in Castile's death and two counts of risky discharge of a firearm for bullets that were fired near Castile's girlfriend and her little girl.
Until Tuesday, the only public video of the incident was a Facebook livestream taken by Reynolds shortly after the shooting, as Castile, a cafeteria worker at a St. Paul elementary school, bled out in the auto.
The 10-minute video begins roughly at the timestamp 9:04 p.m. on July 6, 2016, and shows Yanez's police cruiser trailing Castile's vehicle for several seconds before activating lights to pull him over.
The officer tells Castile his tail light is out and that he will need to see license and proof of insurance.
Yanez said Castile continued to move his hands toward his black pistol despite the officer's orders not to reach for it.
Castile is heard saying: 'Sir, I do have to tell you, I have a firearm on me.' It is said in a non-threatening tone.
Castile and his girlfriend, Diamond Reynolds, who was sitting in the front passenger seat, repeatedly assured the officer that Castile was not reaching for the weapon. It captures what was said between the two men and shows Yanez, who is Latino, firing into the vehicle. At the:45-second mark, Castile's vehicle comes to a stop in a right-turn lane on Larpenteur Avenue, while Yanez's squad comes to a stop straddling the turn lane and right-hand lane of traffic.
While the video shows the shooting of Castile, it does not show what happened in the auto to reflect what Yanez actually saw before opening fire.
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A hacker upset about last week's acquittal of a Minnesota police officer who shot and killed a black motorist claims to have stolen hundreds of email addresses from a state database. After warning Castile multiple times not to pull out his gun, Yanez shot Castile. I told him not to reach for it.
Yanez was sacked from the police force after the acquittal. Yanez continues, saying "I don't know where the gun was".
"[Castile] was just staring straight ahead and I was getting fucking nervous", Yanez says, his voice sounding distressed.
The actual reason, according to Yanez, was that Castile resembled a suspect in a convenience store robbery that had happened four days before in the same neighborhood.
Also released as part of the file was Yanez's interview with BCA agent Doug Henning after the shooting. And it's frightful. I don't know how anybody could see that and not be affected by it. I'm going to take your spot.
Castile then brings his head back up, and at the 1:31 mark, he can be seen handing Yanez a piece of paper.
Yanez is heard shouting at the woman to keep her hands up.