1. A method of forming a composite image by combining a plurality of image frames in a stream captured with a handheld scanning device, the method comprising: with at least one processor: receiving image frames in the stream; as each image frame in the stream is received, selectively storing the image frame in a data structure, the selectively storing comprising: receiving an indication that the handheld scanning device has been separated from a surface; and in response to receiving the indication, suspending the storing of the image frames.