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An Oklahoma father whose children died after spending five hours locked inside a hot truck has been released from jail after new surveillance footage reveals that the children actually got into the vehicle on their own, according to Fox News.

Dustin Lee Dennis, 31, was arrested after his 4-year-old daughter, Tegan, and 3-year-old son, Ryan, were found dead in his truck in Tulsa.

The judge had initially set a bond of $750,000, according to Tulsa County Jail records.

After the judge was presented with video footage, the judge released Dennis.

No formal charges have been filed.

Dennis told police that he had taken his children to a QuikTrip convenience store around noon Saturday and returned home.

When they got home, he went inside and fell asleep for four or five hours, according to FOX 23 Tulsa.

Dennis said that when he awoke, he found his children on the floorboard inside the truck. He called the police after he carried the children inside the house. Paramedics pronounced the children dead at the scene.

According to the National Weather Service, the temperature in Oklahoma hit low 90s in Tulsa.

A memorial for the children will be held at the Pleasant View Baptist Church in Pryor on June 19.

More from Fox News:

Dennis was released Monday after investigators reviewed a neighbor’s surveillance camera footage that showed the children climbing into the truck and “tragically” not coming back out, the Tulsa District Attorney Office said.

The DA’s office noted in a statement obtained by local news outlets that the Constitution guarantees the presumption of innocence for any person accused of or arrested for a crime unless a judge or jury determines otherwise.