diff --git a/src/odroid/catkin_ws/src/car/scripts/filter.py b/src/odroid/catkin_ws/src/car/scripts/filter.py
index 90bb7cf6bceefdec060cb2c6cc9ccba906324051..2cb16548b8d19012eee36fcb8112fa9c4b0fe8b4 100644
--- a/src/odroid/catkin_ws/src/car/scripts/filter.py
+++ b/src/odroid/catkin_ws/src/car/scripts/filter.py
@@ -12,9 +12,9 @@ last_img = None
 def parse_line(line, out_csv, out_index, args):
     global last_img
     items = line.split(",")
-    if len(items) < 6:
+    if len(items) < 8:
         raise ValueError("Invalid csv file!")
-    in_index = int(items[5][4:].split(".")[0])
+    in_index = int(items[7][4:].split(".")[0])
 
     src = args.in_dir + "/img-" + str(in_index) + ".jpg"
     dest = args.out_dir + "/img-" + str(out_index) + ".jpg"
@@ -33,7 +33,7 @@ def parse_line(line, out_csv, out_index, args):
     
     last_img = curr_img
     
-    for i in range(5):
+    for i in range(7):
         out_csv.write(items[i])
         out_csv.write(",")
 
diff --git a/src/odroid/catkin_ws/src/car/scripts/merge.py b/src/odroid/catkin_ws/src/car/scripts/merge.py
index 3a0f6112f6aefac49bc6919e3444c212bb7d5409..e650d452dd49b677faac97b7391fadeb20bb6c0c 100644
--- a/src/odroid/catkin_ws/src/car/scripts/merge.py
+++ b/src/odroid/catkin_ws/src/car/scripts/merge.py
@@ -15,12 +15,12 @@ def mkdir(directory):
 
 def parse_line(line, out_csv, in_index, out_index, in_dir, out_dir, image_processing):
     items = line.split(",")
-    if len(items) < 6:
+    if len(items) < 8:
         raise ValueError("Invalid csv file!")
-    true_in_index = int(items[5][4:].split(".")[0])
+    true_in_index = int(items[7][4:].split(".")[0])
     if in_index != true_in_index:
         raise ValueError("Invalid csv file!")
-    for i in range(5):
+    for i in range(7):
         out_csv.write(items[i])
         out_csv.write(",")
     out_csv.write("img-" + str(out_index) + ".jpg\n")
@@ -92,7 +92,7 @@ def main():
             out_index = 0
             recordings = data["recordings"]
             for recording in recordings:
-                in_dir = get_config_dir() + "/recordings/" + recording["directory"]
+                in_dir = recording["directory"]
                 in_fn = in_dir + "/data.csv"
                 sequences = Sequences(recording["sequences"])
                 with open(in_fn, "r") as in_csv:
diff --git a/src/odroid/catkin_ws/src/car/scripts/saliency.py b/src/odroid/catkin_ws/src/car/scripts/saliency.py
index ba621310f04ec64ba3354ee201b049733334ddf9..0ace04ec48c88942cd0e34eb0cfc886ad618c32e 100644
--- a/src/odroid/catkin_ws/src/car/scripts/saliency.py
+++ b/src/odroid/catkin_ws/src/car/scripts/saliency.py
@@ -54,27 +54,15 @@ from keras.models import Model
 # ax2.imshow(mask)
 
 images = [
-    # load_image(get_config_dir() + "/trainingData", "img-3300.jpg"),
-    # load_image(get_config_dir() + "/trainingData", "img-3305.jpg"),
-    # load_image(get_config_dir() + "/trainingData", "img-3310.jpg"),
-    # load_image(get_config_dir() + "/trainingData", "img-50.jpg"),
-    # load_image(get_config_dir() + "/trainingData", "img-60.jpg"),
-    # load_image(get_config_dir() + "/trainingData", "img-70.jpg"),
-    # load_image(get_config_dir() + "/trainingData", "img-4230.jpg"),
-    # load_image(get_config_dir() + "/trainingData", "img-4235.jpg"),
-    # load_image(get_config_dir() + "/trainingData", "img-4240.jpg"),
-    load_image(get_config_dir() + "/trainingData", "img-7600.jpg"),
-    load_image(get_config_dir() + "/trainingData", "img-7610.jpg"),
-    load_image(get_config_dir() + "/trainingData", "img-7620.jpg"),
-    load_image(get_config_dir() + "/trainingData", "img-7630.jpg"),
-    load_image(get_config_dir() + "/trainingData", "img-7640.jpg")
+    load_image(get_config_dir() + "/trainingData", "img-1000.jpg"),
+    load_image(get_config_dir() + "/trainingData", "img-2000.jpg"),
+    load_image(get_config_dir() + "/trainingData", "img-3000.jpg")
 ]
 
 models = [
     load_model(get_config_dir() + "/models/model-001.h5"),
     load_model(get_config_dir() + "/models/model-010.h5"),
-    load_model(get_config_dir() + "/models/model-050.h5"),
-    load_model(get_config_dir() + "/models/model-100.h5"),
+    load_model(get_config_dir() + "/models/model-020.h5"),
 ]
 
 fig, axes = plt.subplots(len(images) * 2, len(models))