The Renee Good case was clear-cut self-defense. The Pretti case is different. It still looks like lawful self-defense, but in this case, if the officers were omnipotent, they would NOT have fired. And then the officer hears “gun gun gun.” We don’t know exactly what that officer was seeing at the time; maybe the body cam video will be probative, maybe not. But the officer is allowed to rely on the perceptions of his colleagues combined with his own, so if he heard “gun gun gun” and saw Pretti reach for his waist that’s a lawful shoot even if the officer was mistaken.