diff --git a/.gitignore b/.gitignore
index a2f562f..dbfbc78 100644
--- a/.gitignore
+++ b/.gitignore
@@ -2,6 +2,34 @@
 *.o
 *.a
 *.so
+*.dll
 
 # emacs temp files
 *~
+
+# Compiled binaries and temporary library files
+bin/Bundle2PMVS
+bin/Bundle2Ply
+bin/Bundle2Vis
+bin/KeyMatchFull
+bin/RadialUndistort
+bin/bundler
+lib/ann_1.1_char/lib
+lib/f2c/arith.h
+lib/f2c/signal1.h
+lib/f2c/sysdep1.h
+src/Bundle2PMVS
+src/Bundle2Ply
+src/Bundle2Vis
+src/KeyMatchFull
+src/RadialUndistort
+src/bundler
+
+# Binaries we depend on
+bin/sift
+
+# misc
+list_keys.txt
+list_tmp.txt
+options.txt
+sift.txt
diff --git a/README.md b/README.md
index 26b57cf..dc3c379 100644
--- a/README.md
+++ b/README.md
@@ -7,6 +7,8 @@ based on the Photo Tourism work of Noah Snavely, Steven M. Seitz,
 
 For more information, see the Bundler homepage at 
     http://www.cs.cornell.edu/~snavely/bundler/
+or see the FAQ at 
+    http://www.cs.cornell.edu/~snavely/bundler/faq.html
 
 What is Bundler?
 ----------------
diff --git a/bin/extract_focal.pl b/bin/extract_focal.pl
index 5a07015..55334e2 100755
--- a/bin/extract_focal.pl
+++ b/bin/extract_focal.pl
@@ -52,6 +52,8 @@
      "Canon Canon EOS 400D DIGITAL"     => 22.2,
      "Canon Canon EOS 40D"              => 22.2,
      "Canon Canon EOS 5D"               => 35.8,
+     "Canon Canon EOS 5D Mark II"       => 36.0,
+     "Canon Canon EOS 5D Mark III"      => 36.0,
      "Canon Canon EOS DIGITAL REBEL"     => 22.66,
      "Canon Canon EOS DIGITAL REBEL XT"  => 22.2,
      "Canon Canon EOS DIGITAL REBEL XTi" => 22.2,
@@ -112,6 +114,7 @@
      "Canon Canon PowerShot SD700 IS"   => 5.76,   # 1/2.5"
      "Canon Canon PowerShot SD750"      => 5.75,   # 1/2.5"
      "Canon Canon PowerShot SD800 IS"   => 5.76,   # 1/2.5"
+     "Canon Canon PowerShot SX500 IS"   => 6.17,   # 1/2.3"
      "Canon EOS 300D DIGITAL"            => 22.66,
      "Canon EOS DIGITAL REBEL"          => 22.66,
      "Canon PowerShot A510"             => 5.76,   # 1/2.5" ???
diff --git a/src/Bundle.cpp b/src/Bundle.cpp
index 9b22a4b..e8178ca 100644
--- a/src/Bundle.cpp
+++ b/src/Bundle.cpp
@@ -657,10 +657,13 @@ double BundlerApp::RunSFM_SBA(int num_pts, int num_cameras, int start_camera,
         printf("[RunSFM] run_sfm took %0.3fs\n",
             (double) (end - start) / (double) CLOCKS_PER_SEC);
 
-        /* Check for outliers */
+        /* Compute statistics and check for outliers */
 
         start = clock();
 
+        double global_reprojection_error = 0;
+        int global_num_observations = 0;
+
         std::vector<int> outliers;
         std::vector<double> reproj_errors;
 
@@ -784,7 +787,8 @@ double BundlerApp::RunSFM_SBA(int num_pts, int num_cameras, int start_camera,
                 iround(0.5 * num_pts_proj), dists), 
                 thresh);
 
-            // printf("Outlier threshold is %0.3f\n", thresh);
+            global_reprojection_error += sum;
+            global_num_observations += num_pts_proj;
 
             pt_count = 0;
             for (int j = 0; j < num_keys; j++) {
@@ -846,6 +850,11 @@ double BundlerApp::RunSFM_SBA(int num_pts, int num_cameras, int start_camera,
             delete [] dists;
         }
 
+        printf("[RunSFM] Global mean reprojection error: %0.3e "
+               "(%d observations)\n",
+               global_reprojection_error / global_num_observations,
+               global_num_observations);
+
         /* Remove outlying points */
         if (remove_outliers) {
             for (int i = 0; i < (int) outliers.size(); i++) {
diff --git a/src/BundleCeres.cpp b/src/BundleCeres.cpp
index 1d2e5b8..863edcd 100644
--- a/src/BundleCeres.cpp
+++ b/src/BundleCeres.cpp
@@ -511,6 +511,9 @@ double BundlerApp::RunSFM_Ceres(int num_pts, int num_cameras,
 
 	start = clock();
 
+        double global_reprojection_error = 0;
+        int global_num_observations = 0;
+
 	std::vector<int> outliers;
         std::vector<int> outlier_views;
 	std::vector<double> reproj_errors;
@@ -649,6 +652,9 @@ double BundlerApp::RunSFM_Ceres(int num_pts, int num_cameras,
                                     iround(0.5 * num_pts_proj), dists), 
                    thresh);
 
+            global_reprojection_error += sum;
+            global_num_observations += num_pts_proj;
+
 	    pt_count = 0;
 	    for (int j = 0; j < num_keys; j++) {
 		int pt_idx = GetKey(added_order[i],j).m_extra;
@@ -715,6 +721,11 @@ double BundlerApp::RunSFM_Ceres(int num_pts, int num_cameras,
 	    delete [] dists;
 	}
 
+        printf("[RunSFM] Global mean reprojection error: %0.3e "
+               "(%d observations)\n",
+               global_reprojection_error / global_num_observations,
+               global_num_observations);
+
 	/* Remove outlying points */
         if ((!final_bundle || round > 0) && remove_outliers) {
             int num_dead = 0;
diff --git a/src/BundleIO.cpp b/src/BundleIO.cpp
index 1c4651f..5dd47b2 100644
--- a/src/BundleIO.cpp
+++ b/src/BundleIO.cpp
@@ -1138,8 +1138,7 @@ void BaseApp::DumpPointsToPly(const char *output_directory,
                               const char *filename, 
                               int num_points, int num_cameras, 
                               v3_t *points, v3_t *colors,
-                              camera_params_t *cameras 
-                              /*bool reflect*/) 
+                              camera_params_t *cameras) 
 {
     int num_good_pts = 0;
 
@@ -1174,8 +1173,6 @@ void BaseApp::DumpPointsToPly(const char *output_directory,
 	/* Output the vertex */
 	fprintf(f, "%0.6e %0.6e %0.6e %d %d %d\n", 
 		Vx(points[i]), Vy(points[i]), Vz(points[i]),
-		// Vx(points[idx]), Vy(points[idx]), Vz(points[idx]),
-                // (reflect ? -1 : 1) * Vz(points[i]),
 		iround(Vx(colors[i])), 
 		iround(Vy(colors[i])), 
 		iround(Vz(colors[i])));
@@ -1191,17 +1188,12 @@ void BaseApp::DumpPointsToPly(const char *output_directory,
 	
 	if ((i % 2) == 0)
 	    fprintf(f, "%0.6e %0.6e %0.6e 0 255 0\n", c[0], c[1], c[2]);
-                    // (reflect ? -1 : 1) * c[2]);
 	else
 	    fprintf(f, "%0.6e %0.6e %0.6e 255 0 0\n", c[0], c[1], c[2]);
-                    // (reflect ? -1 : 1) * c[2]);
 
 	double p_cam[3] = { 0.0, 0.0, -0.05 };
 	double p[3];
 
-        // if (!reflect)
-        //    p_cam[2] *= -1.0;
-
 	matrix_product(3, 3, 3, 1, Rinv, p_cam, p);
 
 	p[0] += c[0];
@@ -1209,7 +1201,7 @@ void BaseApp::DumpPointsToPly(const char *output_directory,
 	p[2] += c[2];
 
 	fprintf(f, "%0.6e %0.6e %0.6e 255 255 0\n",
-		p[0], p[1], p[2]); // (reflect ? -1 : 1) * p[2]);
+		p[0], p[1], p[2]);
     }
 
     fclose(f);
diff --git a/src/KeyMatchFull.cpp b/src/KeyMatchFull.cpp
index b321f17..6ccd8c8 100644
--- a/src/KeyMatchFull.cpp
+++ b/src/KeyMatchFull.cpp
@@ -16,7 +16,6 @@
 /* KeyMatchFull.cpp */
 /* Read in keys, match, write results to a file */
 
-#include <assert.h>
 #include <time.h>
 #include <stdio.h>
 #include <stdlib.h>
@@ -24,16 +23,49 @@
 
 #include "keys2a.h"
 
+int ReadFileList(char* list_in, std::vector<std::string>& key_files) {
+    FILE* fp;
+
+    if ((fp = fopen(list_in, "r")) == NULL) {
+        printf("Error opening file %s for reading.\n", list_in);
+        return 1;
+    }
+
+    char buf[512], *start;
+    while (fgets(buf, 512, fp)) {
+        // Remove trailing new-line
+        if (buf[strlen(buf) - 1] == '\n') buf[strlen(buf) - 1] = '\0';
+
+        // Find first non-space character
+        start = buf;
+        while(isspace(*start)) start++;
+
+        // Skip empty lines
+        if (strlen(start) == 0) continue;
+
+        // Append file-name to key_files
+        key_files.push_back(std::string(buf));
+    }
+
+    // Check we found input files
+    if (key_files.size() == 0) {
+        printf("No input files found in %s.\n", list_in);
+        return 1;
+    }
+
+    return 0;
+}
+
 int main(int argc, char **argv) {
     char *list_in;
     char *file_out;
     double ratio;
-    
+
     if (argc != 3 && argc != 4) {
-	printf("Usage: %s <list.txt> <outfile> [window_radius]\n", argv[0]);
-	return -1;
+        printf("Usage: %s <list.txt> <outfile> [window_radius]\n", argv[0]);
+        return EXIT_FAILURE;
     }
-    
+
     list_in = argv[1];
     ratio = 0.6;
     file_out = argv[2];
@@ -45,47 +77,31 @@ int main(int argc, char **argv) {
 
     clock_t start = clock();
 
-    unsigned char **keys;
-    int *num_keys;
-
     /* Read the list of files */
     std::vector<std::string> key_files;
-    
-    FILE *f = fopen(list_in, "r");
-    if (f == NULL) {
-        printf("Error opening file %s for reading\n", list_in);
-        return 1;
-    }
+    if (ReadFileList(list_in, key_files) != 0) return EXIT_FAILURE;
 
-    char buf[512];
-    while (fgets(buf, 512, f)) {
-        /* Remove trailing newline */
-        if (buf[strlen(buf) - 1] == '\n')
-            buf[strlen(buf) - 1] = 0;
-        
-        key_files.push_back(std::string(buf));
+    FILE *f;
+    if ((f = fopen(file_out, "w")) == NULL) {
+        printf("Could not open %s for writing.\n", file_out);
+        return EXIT_FAILURE;
     }
 
-    fclose(f);
-
-    f = fopen(file_out, "w");
-    assert(f != NULL);
-
     int num_images = (int) key_files.size();
 
-    keys = new unsigned char *[num_images];
-    num_keys = new int[num_images];
+    std::vector<unsigned char*> keys(num_images);
+    std::vector<int> num_keys(num_images);
 
     /* Read all keys */
     for (int i = 0; i < num_images; i++) {
         keys[i] = NULL;
-        num_keys[i] = ReadKeyFile(key_files[i].c_str(), keys+i);
+        num_keys[i] = ReadKeyFile(key_files[i].c_str(), &keys[i]);
     }
 
-    clock_t end = clock();    
+    clock_t end = clock();
     printf("[KeyMatchFull] Reading keys took %0.3fs\n", 
            (end - start) / ((double) CLOCKS_PER_SEC));
-    
+
     for (int i = 0; i < num_images; i++) {
         if (num_keys[i] == 0)
             continue;
@@ -109,7 +125,7 @@ int main(int argc, char **argv) {
             /* Compute likely matches between two sets of keypoints */
             std::vector<KeypointMatch> matches = 
                 MatchKeys(num_keys[j], keys[j], tree, ratio);
-            
+
             int num_matches = (int) matches.size();
 
             if (num_matches >= 16) {
@@ -126,22 +142,21 @@ int main(int argc, char **argv) {
             }
         }
 
-        end = clock();    
+        end = clock();
         printf("[KeyMatchFull] Matching took %0.3fs\n", 
                (end - start) / ((double) CLOCKS_PER_SEC));
         fflush(stdout);
 
         delete tree;
     }
-    
+
     /* Free keypoints */
     for (int i = 0; i < num_images; i++) {
         if (keys[i] != NULL)
             delete [] keys[i];
     }
-    delete [] keys;
-    delete [] num_keys;
-    
+
     fclose(f);
-    return 0;
+    return EXIT_SUCCESS;
 }
+
diff --git a/src/Makefile b/src/Makefile
index 1903c3f..7d8ccb3 100644
--- a/src/Makefile
+++ b/src/Makefile
@@ -5,6 +5,7 @@
 CC=gcc
 CXX=g++
 OPTFLAGS=-O3 -Wall -Wno-unused-result
+# OPTFLAGS=-g2
 OTHERFLAGS=-std=gnu++0x
 
 OS=$(shell uname -o)
@@ -39,17 +40,24 @@ BUNDLER_OBJS=BaseApp.o BundlerApp.o keys.o Register.o Epipolar.o	\
 	BundleIO.o ProcessBundle.o BundleTwo.o Decompose.o		\
 	RelativePose.o Distortion.o TwoFrameModel.o LoadJPEG.o
 
-BUNDLER_LIBS=-limage -lsfmdrv -lsba.v1.5 -lmatrix -lz -lblas -llapack \
+BUNDLER_BASE_LIBS=-limage -lsfmdrv -lsba.v1.5 -lmatrix -lz -llapack -lblas \
 	-lcblas -lminpack -lm -l5point -ljpeg -lANN_char -lgfortran
-CERES_LIBS= -lceres -lcholmod -lcolamd -lamd -lcamd -lcxsparse \
+CERES_LIBS=-lceres -lcholmod -lccolamd -lcolamd -lamd -lcamd -lcxsparse \
 	-lsuitesparseconfig -lgomp -lglog -lpthread
 
 # if we are using Ceres, add to options
 ifeq ($(USE_CERES),true)
+# Edit these two variables as needed
+CERES_INCLUDE_PATH=
+CERES_LIB_PATH=
 BUNDLER_DEFINES+=-D__USE_CERES__
-BUNDLER_LIBS+=$(CERES_LIBS)
+BUNDLER_LIBS=$(CERES_LIBS) $(BUNDLER_BASE_LIBS)
 BUNDLER_OBJS+=BundleCeres.o
+INCLUDE_PATH+=$(CERES_INCLUDE_PATH)
+LIB_PATH+=$(CERES_LIB_PATH)
 INCLUDE_PATH+=-I/usr/include/eigen3
+else
+BUNDLER_LIBS=$(BUNDLER_BASE_LIBS)
 endif
 
 CPPFLAGS=$(OPTFLAGS) $(OTHERFLAGS) $(INCLUDE_PATH)
diff --git a/utils/bundler.py b/utils/bundler.py
index 568b2b5..6fb1bd0 100755
--- a/utils/bundler.py
+++ b/utils/bundler.py
@@ -81,6 +81,8 @@
      "Canon Canon EOS 400D DIGITAL"              : 22.2,
      "Canon Canon EOS 40D"                       : 22.2,
      "Canon Canon EOS 5D"                        : 35.8,
+     "Canon Canon EOS 5D Mark II"                : 36.0,
+     "Canon Canon EOS 5D Mark III"               : 36.0,
      "Canon Canon EOS DIGITAL REBEL"             : 22.66,
      "Canon Canon EOS DIGITAL REBEL XT"          : 22.2,
      "Canon Canon EOS DIGITAL REBEL XTi"         : 22.2,
@@ -141,6 +143,7 @@
      "Canon Canon PowerShot SD700 IS"            : 5.76,   # 1/2.5"
      "Canon Canon PowerShot SD750"               : 5.75,   # 1/2.5"
      "Canon Canon PowerShot SD800 IS"            : 5.76,   # 1/2.5"
+     "Canon Canon PowerShot SX500 IS"            : 6.17,   # 1/2.3"
      "Canon EOS 300D DIGITAL"                    : 22.66,
      "Canon EOS DIGITAL REBEL"                   : 22.66,
      "Canon PowerShot A510"                      : 5.76,   # 1/2.5" ???