A 32-year-old man was shot and killed by police in Sunset Park, Brooklyn Thursday after he pulled a gun on three undercover officers.

It happened around 2:15 p.m. at 33rd Street and 5th Avenue.

Police say three plainclothes officers were on patrol when they came across the man who resembled a suspect from a photo thought to be involved in a string of robberies in the area.

When officers pulled over to talk to the man, police say he approached the driver's side of the police car and pulled out a loaded .357 magnum revolver.

After a brief struggle over the gun, police say a female officer who was sitting in the passenger seat exited the car and shot the suspect in the shoulder.

Police say the bullet traveled to his chest and he was pronounced dead on arrival at Lutheran Hospital.

Residents in the area say the incident took them by surprise.

"It looked like a routine stop to me so I was just walking by and I see an officer struggling with the assailant at the moment. And as soon as that happened they told me stop what you're doing and they went to the back of his pants. And is soon as he did that they officer fired two shots," said one witness.

Police say the suspect had a second loaded gun, extra bullets and a bag of marijuana on him.

Authorities have not confirmed if he was connected to the robberies, but they say he has been convicted of seven separate felonies and had been arrested more than 10 times.

His identity has not been released.