diff --git a/anomaly/gmm-change-detection/scripts/gmm/ground_truth.py b/anomaly/gmm-change-detection/scripts/gmm/ground_truth.py
deleted file mode 100644
index e8793290..00000000
--- a/anomaly/gmm-change-detection/scripts/gmm/ground_truth.py
+++ /dev/null
@@ -1,108 +0,0 @@
-#!/usr/bin/env python
-# Copyright (c) 2017, United States Government, as represented by the
-# Administrator of the National Aeronautics and Space Administration.
-#
-# All rights reserved.
-#
-# The "ISAAC - Integrated System for Autonomous and Adaptive Caretaking
-# platform" software is licensed under the Apache License, Version 2.0
-# (the "License"); you may not use this file except in compliance with the
-# License. You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
-# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
-# License for the specific language governing permissions and limitations
-# under the License.
-
-# Python2 script to convert a series of haz_cam point clouds
-# to a single merged point cloud in the world reference frame
-
-import geometry_msgs
-import numpy as np
-import ros_numpy
-import rosbag
-import rospy
-import sensor_msgs
-import tf2_py as tf2
-import tf2_ros
-from tf import transformations as ts
-from tf2_sensor_msgs.tf2_sensor_msgs import do_transform_cloud
-
-
-# Transform the pc2 msg camera coordinates from the haz_cam to body:
-def translate_cam_frame(pc2_msg):
-    t = geometry_msgs.msg.TransformStamped()
-    t.header.stamp = pc2_msg.header.stamp
-    t.header.frame_id = "haz_cam"
-    t.child_frame_id = "body"
-
-    t.transform.translation.x = 0.036
-    t.transform.translation.y = -0.083
-    t.transform.translation.z = -0.133
-
-    # In quaternions:
-    t.transform.rotation.x = 0.500
-    t.transform.rotation.y = -0.500
-    t.transform.rotation.z = 0.500
-    t.transform.rotation.w = -0.500
-
-    body_tf = do_transform_cloud(pc2_msg, t)
-    return body_tf
-
-
-# Transform point cloud coordinates to map ground truth (from Marina and Ryan)
-def ground_truth(msg, pc2_msg):
-    # Get transformation info from hazcam pc2 message
-    t = geometry_msgs.msg.TransformStamped()
-    # t.header.stamp = rospy.Time.now()
-    t.header.stamp = msg.header.stamp
-    t.header.frame_id = "body"
-    t.child_frame_id = "world"
-
-    t.transform.translation.x = msg.pose.position.x
-    t.transform.translation.y = msg.pose.position.y
-    t.transform.translation.z = msg.pose.position.z
-
-    t.transform.rotation.x = msg.pose.orientation.x
-    t.transform.rotation.y = msg.pose.orientation.y
-    t.transform.rotation.z = msg.pose.orientation.z
-    t.transform.rotation.w = msg.pose.orientation.w
-
-    cloud_out = do_transform_cloud(pc2_msg, t)
-    return cloud_out
-
-
-def convert_bag(bagfile, output_bag_name, save_all_topics=False):
-    topics = [
-        "/gnc/ekf",
-        "/hw/depth_haz/points",
-        "/hw/depth_haz/extended/amplitude_int",
-    ]
-    output_bag = rosbag.Bag(output_bag_name, "w")
-    topics_bag = [] if save_all_topics else topics
-
-    pc2_msg = None
-    with rosbag.Bag(bagfile, "r") as bag:
-        for topic, msg, t in bag.read_messages(topics_bag):
-            if topic == "/hw/depth_haz/points":
-                pc2_msg = msg
-            if topic == "/gnc/ekf" and pc2_msg is not None:
-                new_topic_name = "/hw/depth_haz/points/ground_truth"
-                pc2_body = translate_cam_frame(pc2_msg)
-                pc2_gt = ground_truth(msg, pc2_body)
-                output_bag.write(topic, msg, t)
-                output_bag.write(new_topic_name, pc2_gt, t)
-                pc2_msg = None
-            if save_all_topics:
-                output_bag.write(topic, msg, t)
-    output_bag.close()
-
-
-if __name__ == "__main__":
-    convert_bag(
-        "/home/jcsanto3/bagfile-data/ground_truth/groundtruth_20230419_1836_survey_run5.bag",
-        "./groundtruth_run5.bag",
-    )
diff --git a/anomaly/gmm-change-detection/scripts/gmm/preprocess_data.py b/anomaly/gmm-change-detection/scripts/gmm/preprocess_data.py
index 37e3b7fa..02c308db 100644
--- a/anomaly/gmm-change-detection/scripts/gmm/preprocess_data.py
+++ b/anomaly/gmm-change-detection/scripts/gmm/preprocess_data.py
@@ -166,15 +166,15 @@ def read_pc2_msgs(bagfile):
         "/hw/depth_haz/extended/amplitude_int",
     ]
     pc2_msg = None
-
-    count = 0
+    # First message should be saved
+    count = 100
     i = 0
     with rosbag.Bag(bagfile, "r") as bag:
         for topic, msg, t in bag.read_messages(topics_bag):
             if topic == "/hw/depth_haz/points":
-                count += 1
                 if count % skipped == 0:
                     pc2_msg = msg
+                count += 1
             if topic == "/gnc/ekf" and pc2_msg is not None:
 
                 pc2_body = translate_cam_frame(pc2_msg)
diff --git a/anomaly/gmm-change-detection/scripts/gmm/utilities.py b/anomaly/gmm-change-detection/scripts/gmm/utilities.py
index 2f1f27ac..3eb47d9a 100644
--- a/anomaly/gmm-change-detection/scripts/gmm/utilities.py
+++ b/anomaly/gmm-change-detection/scripts/gmm/utilities.py
@@ -23,7 +23,7 @@
 import pickle
 
 from gmm.emd_gmm import *
-from gmm.gmm2 import *
+from gmm.gmm_edit import *
 
 
 def get_filename(original_file):