DeLAND, Fla. -

DeLand police have released surveillance video from a burglary turned shooting at a gas station, which shows the fight leading up to the shooting.

Police have charged Francisco Grimaldo, 26, with burglary of an occupied conveyance with a firearm. Grimaldo was shot by 40-year-old Paul Giangrasso in the stomach after Grimaldo grabbed a gun out of his car on Dec. 1.

Deputies determined the shooting was in self-defense and Giangrasso wasn't charged.

The video shows Grimaldo getting frustrated after driving around a woman and a teenager standing near an empty pump. A fight ensues between Grimaldo and Giangrasso, showing Giangrasso trying to leave the gas station. The video shows Grimaldo reaching into Giangrasso's car and taking the gun.

The fight continues and Giangrasso shoots at Grimaldo. He was treated and as since recovered.

Grimaldo is in jail on $200,000 bond.