pgibbons5 ,

There is room for improvement, but very very good. If possible, increase the polygon count of regions that are given a lot of attention. For example, if the sensor is focused and brought closed for an object, instead of maintaining the basic polygon count, increase it to the max provided by the sensor. Also, prioritizing the most polygon covered areas—for example, I will get up close to an object to get the most accurate and focused reading, and when I walk off and scan other surfaces and then turn around and focus the original object again, it redraws polygons no matter the density which means that many regions will be redrawn as less polygon dense. Thank you.