diff --git a/SuperBuild/cmake/External-OpenMVS.cmake b/SuperBuild/cmake/External-OpenMVS.cmake
index b9abe3739..b0a43cf3c 100644
--- a/SuperBuild/cmake/External-OpenMVS.cmake
+++ b/SuperBuild/cmake/External-OpenMVS.cmake
@@ -20,7 +20,7 @@ ExternalProject_Add(${_proj_name}
   #--Download step--------------
   DOWNLOAD_DIR      ${SB_DOWNLOAD_DIR}
   GIT_REPOSITORY    https://github.com/OpenDroneMap/openMVS
-  GIT_TAG           250
+  GIT_TAG           256
   #--Update/Patch step----------
   UPDATE_COMMAND    ""
   #--Configure step-------------
diff --git a/SuperBuild/cmake/External-OpenSfM.cmake b/SuperBuild/cmake/External-OpenSfM.cmake
index f9a79aaae..68e47d58c 100644
--- a/SuperBuild/cmake/External-OpenSfM.cmake
+++ b/SuperBuild/cmake/External-OpenSfM.cmake
@@ -19,7 +19,7 @@ ExternalProject_Add(${_proj_name}
   #--Download step--------------
   DOWNLOAD_DIR      ${SB_DOWNLOAD_DIR}
   GIT_REPOSITORY    https://github.com/OpenDroneMap/OpenSfM/
-  GIT_TAG           250
+  GIT_TAG           256
   #--Update/Patch step----------
   UPDATE_COMMAND    git submodule update --init --recursive
   #--Configure step-------------
diff --git a/VERSION b/VERSION
index 0cadbc1e3..da6b0a8f1 100644
--- a/VERSION
+++ b/VERSION
@@ -1 +1 @@
-2.5.5
+2.5.6
diff --git a/opendm/config.py b/opendm/config.py
index 96b05d4f3..c37e097c1 100755
--- a/opendm/config.py
+++ b/opendm/config.py
@@ -362,6 +362,13 @@ def config(argv=None, parser=None):
                         help='Reduce the memory usage needed for depthmap fusion by splitting large scenes into tiles. Turn this on if your machine doesn\'t have much RAM and/or you\'ve set --pc-quality to high or ultra. Experimental. '
                              'Default: %(default)s')
 
+    parser.add_argument('--pc-geometric',
+                        action=StoreTrue,
+                        nargs=0,
+                        default=False,
+                        help='Improve the accuracy of the point cloud by computing geometrically consistent depthmaps. This increases processing time, but can improve results in urban scenes. '
+                             'Default: %(default)s')    
+
     parser.add_argument('--smrf-scalar',
                         metavar='<positive float>',
                         action=StoreValue,
diff --git a/stages/odm_filterpoints.py b/stages/odm_filterpoints.py
index 98902e59c..8e1c316aa 100644
--- a/stages/odm_filterpoints.py
+++ b/stages/odm_filterpoints.py
@@ -31,5 +31,6 @@ def process(self, args, outputs):
             log.ODM_WARNING('Found a valid point cloud file in: %s' %
                             tree.filtered_point_cloud)
         
-        if args.optimize_disk_space:
-            os.remove(inputPointCloud)
+        if args.optimize_disk_space and inputPointCloud:
+            if os.path.isfile(inputPointCloud):
+                os.remove(inputPointCloud)
diff --git a/stages/openmvs.py b/stages/openmvs.py
index d0f387991..422fe6657 100644
--- a/stages/openmvs.py
+++ b/stages/openmvs.py
@@ -72,6 +72,9 @@ def process(self, args, outputs):
 
             if args.pc_tile:
                 config.append("--fusion-mode 1")
+            
+            if not args.pc_geometric:
+                config.append("--geometric-iters 0")
 
             system.run('%s "%s" %s' % (context.omvs_densify_path, 
                                        openmvs_scene_file,
diff --git a/stages/run_opensfm.py b/stages/run_opensfm.py
index b69693065..835f23f9d 100644
--- a/stages/run_opensfm.py
+++ b/stages/run_opensfm.py
@@ -158,6 +158,7 @@ def align_to_primary_band(shot_id, image):
             # We finally restore the original files later
 
             added_shots_file = octx.path('added_shots_done.txt')
+            s2p, p2s = None, None
 
             if not io.file_exists(added_shots_file) or self.rerun():
                 primary_band_name = multispectral.get_primary_band_name(reconstruction.multi_camera, args.primary_band)
@@ -213,12 +214,12 @@ def align_to_primary_band(shot_id, image):
                         
                         # Primary band maps to itself
                         if band['name'] == primary_band_name:
-                            img_map[fname + '.tif'] = fname + '.tif'
+                            img_map[fname] = fname
                         else:
                             band_filename = next((p.filename for p in p2s[fname] if p.band_name == band['name']), None)
 
                             if band_filename is not None:
-                                img_map[fname + '.tif'] = band_filename + '.tif'
+                                img_map[fname] = band_filename
                             else:
                                 log.ODM_WARNING("Cannot find %s band equivalent for %s" % (band, fname))