HOUSTON -- A police officer shot and killed a man in northwest Houston on Thursday, KPRC Local 2 reported.

Houston police said an officer was in his patrol car finishing paperwork for a traffic ticket on T.C. Jester Boulevard near De Soto Street at about 1:45 p.m.

A man driving a pickup truck stopped in the middle of T.C. Jester Boulevard, got out and walked toward the officer's patrol car. Police said the officer told the man to get back in his truck and drive away because he was blocking traffic.

"The suspect begins undressing himself in the middle of the street and keeps going towards the officer," spokeswoman Johanna Abad said. "The officer gets out of his car, asks for backup and at this time, the suspect begins confronting him."

Police said the officer fired his Taser gun to try to stop the man. Police said it did not work.

The officer said he chased the man into the woods. Abad said the man chased the police officer out of the woods and the officer shot the man in the street.

"As he's being chased by the suspect, he discharges his weapon," she said.

A witness, who gave a statement to police, said the man tried to get away from the officer.

"He was butt-naked. He didn’t have nothing and he was trying; he was just struggling trying to get away from the police," Rhonda Kersee said

Police said the man got into the police car and tried to take off. Another officer arrived and the pulled the man out of the cruiser, police said.

Investigators said the man ran into the woods and died.

The man’s family identified him as 29-year-old Raymond Smith Jr. He was a father to two daughters.

Smith's mother said her son did nothing wrong.

"I feel as though my son was brutally murdered and I want to see justice done," Patricia Smith said.

The Houston Police Department's Internal Affairs Division and the Harris County District Attorney's Office are investigating.

New Black Panther Nation leader Quanell X also asked the United States Department of Justice to investigate.

"This black man is dead who was unarmed, who had no weapon to threaten them," Quanell X said. "He had no weapon to harm them, but they gunned him down like a dog in the streets."

A memorial is planned for 5 p.m. Sunday at T.C. Jester Boulevard and De Soto Street.