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; and in response to receiving the indication, removing at least one stored image frame from the data structure; displaying a composite image based on the data structure, wherein: the data structure comprises a network, the network comprising a representation of an order in which image frames were added to the network; and removing the at least one stored image frame from the data structure comprises selecting the at least one stored image frame based on the image frame order information of the data structure.