diff --git a/contrib/license.txt.h b/contrib/license.txt.h
deleted file mode 100644
index 3f56482..0000000
--- a/contrib/license.txt.h
+++ /dev/null
@@ -1,3313 +0,0 @@
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-  0x53, 0x4f, 0x46, 0x54, 0x57, 0x41, 0x52, 0x45, 0x2e, 0x0a, 0x0a, 0x20,
-  0x0a, 0x0a
-};
-unsigned int licenses_txt_len = 39710;
diff --git a/src/Calibrator.cpp b/src/Calibrator.cpp
index d9b4227..9c8d991 100644
--- a/src/Calibrator.cpp
+++ b/src/Calibrator.cpp
@@ -85,7 +85,7 @@ bool Calibrator::detectLaserX(real * laserX, PixelLocation& topLocation, PixelLo
 	bool detected = false;
 	ImageProcessor imageProcessor;
 	int firstRowLaserCol = 0;
-	real percentPixelsOverThreshold = 0;
+	int numBad1, numBad2;
 	int numLocations = 0;
 	int maxNumLocations = camera->getImageHeight();
 	PixelLocation * laserLocations = new PixelLocation[maxNumLocations];
@@ -98,7 +98,8 @@ bool Calibrator::detectLaserX(real * laserX, PixelLocation& topLocation, PixelLo
 				laserLocations,
 				maxNumLocations,
 				firstRowLaserCol,
-				percentPixelsOverThreshold,
+				numBad1,
+				numBad2,
 				NULL);
 
 		//
diff --git a/src/Camera.cpp b/src/Camera.cpp
index fcc616b..1b76d5f 100644
--- a/src/Camera.cpp
+++ b/src/Camera.cpp
@@ -29,11 +29,15 @@
 namespace freelss
 {
 
+#define VIDEO_CAMERA_TYPE  Camera::CT_MMALVIDEO
+//#define VIDEO_CAMERA_TYPE Camera::CT_RASPICAM
+
 CriticalSection Camera::m_cs = CriticalSection();
 Camera * Camera::m_instance = NULL;
-Camera::CameraType Camera::m_cameraType = Camera::CT_RASPICAM;
+Camera::CameraType Camera::m_cameraType = VIDEO_CAMERA_TYPE;
 int Camera::m_reqImageWidth = 0;
 int Camera::m_reqImageHeight = 0;
+int Camera::m_reqFrameRate = 0;
 
 Camera::Camera()
 {
@@ -58,7 +62,7 @@ Camera * Camera::getInstance()
 			}
 			else if (m_cameraType == Camera::CT_RASPICAM)
 			{
-				std::cout << "Creating video mode camera resolution=" << m_reqImageWidth << "x" << m_reqImageHeight << std::endl;
+				std::cout << "Creating Raspicam video mode camera resolution=" << m_reqImageWidth << "x" << m_reqImageHeight << std::endl;
 				m_instance = new RaspicamCamera(m_reqImageWidth, m_reqImageHeight);
 			}
 			else if (m_cameraType == Camera::CT_MMALSTILL)
@@ -68,7 +72,8 @@ Camera * Camera::getInstance()
 			}
 			else if (m_cameraType == Camera::CT_MMALVIDEO)
 			{
-				m_instance = new MmalVideoCamera();
+				std::cout << "Creating MMAL video mode camera resolution=" << m_reqImageWidth << "x" << m_reqImageHeight << std::endl;
+				m_instance = new MmalVideoCamera(m_reqImageWidth, m_reqImageHeight, m_reqFrameRate);
 			}
 			else
 			{
@@ -109,6 +114,7 @@ void Camera::reinitialize()
 	Camera::CameraType type;
 	int reqImageWidth;
 	int reqImageHeight;
+	int reqFrameRate;
 
 	switch (cameraMode)
 	{
@@ -116,30 +122,46 @@ void Camera::reinitialize()
 		type = CT_MMALSTILL;
 		reqImageWidth = 2592;
 		reqImageHeight = 1944;
+		reqFrameRate = 15;
 		break;
 
 	case CM_VIDEO_5MP:
-		type = CT_RASPICAM;
-		reqImageWidth = 2560;
-		reqImageHeight = 1920;
+		type = VIDEO_CAMERA_TYPE;
+		reqImageWidth = 2592;
+		reqImageHeight = 1944;
+		reqFrameRate = 15;
+		//reqImageHeight = 1944;
+		//reqImageWidth = 2560;
+		//reqImageHeight = 1920;
 		break;
 
 	case CM_VIDEO_HD:
-		type = CT_RASPICAM;
+		type = VIDEO_CAMERA_TYPE;
 		reqImageWidth = 1600;
 		reqImageHeight = 1200;
+		reqFrameRate = 30;
 		break;
 
 	case CM_VIDEO_1P2MP:
-		type = CT_RASPICAM;
+		type = VIDEO_CAMERA_TYPE;
+		//reqImageWidth = 1296;
+		//reqImageHeight = 972;
 		reqImageWidth = 1280;
 		reqImageHeight = 960;
+		//reqImageWidth = 1312;
+		//reqImageHeight = 984;
+		//reqImageWidth = 1324;
+		//reqImageHeight = 993;
+		//reqImageWidth = 1288;
+		//reqImageHeight = 966;
+		reqFrameRate = 42;
 		break;
 
 	case CM_VIDEO_VGA:
+		type = VIDEO_CAMERA_TYPE;
 		reqImageWidth = 640;
 		reqImageHeight = 480;
-		type = CT_RASPICAM;
+		reqFrameRate = 60;
 		break;
 
 	default:
@@ -159,6 +181,7 @@ void Camera::reinitialize()
 			m_cameraType = type;
 			m_reqImageWidth = reqImageWidth;
 			m_reqImageHeight = reqImageHeight;
+			m_reqFrameRate = reqFrameRate;
 		}
 	}
 	catch (...)
diff --git a/src/Camera.h b/src/Camera.h
index d4826bc..fbb8da0 100644
--- a/src/Camera.h
+++ b/src/Camera.h
@@ -96,6 +96,9 @@ class Camera
 
 	/** The requested image height */
 	static int m_reqImageHeight;
+
+	/** The requested frame rate */
+	static int m_reqFrameRate;
 };
 
 }
diff --git a/src/Facetizer.cpp b/src/Facetizer.cpp
new file mode 100644
index 0000000..ccf568b
--- /dev/null
+++ b/src/Facetizer.cpp
@@ -0,0 +1,273 @@
+/*
+ ****************************************************************************
+ *  Copyright (c) 2014 Uriah Liggett <freelaserscanner@gmail.com>           *
+ *	This file is part of FreeLSS.                                           *
+ *                                                                          *
+ *  FreeLSS is free software: you can redistribute it and/or modify         *
+ *  it under the terms of the GNU General Public License as published by    *
+ *  the Free Software Foundation, either version 3 of the License, or       *
+ *  (at your option) any later version.                                     *
+ *                                                                          *
+ *  FreeLSS is distributed in the hope that it will be useful,              *
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of          *
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the           *
+ *  GNU General Public License for more details.                            *
+ *                                                                          *
+ *   You should have received a copy of the GNU General Public License      *
+ *   along with FreeLSS.  If not, see <http://www.gnu.org/licenses/>.       *
+ ****************************************************************************
+*/
+
+#include "Main.h"
+#include "Facetizer.h"
+#include "Camera.h"
+
+namespace freelss
+{
+
+static real32 DistanceSquared(const ColoredPoint& a, const ColoredPoint&b)
+{
+	real32 dx = a.x - b.x;
+	real32 dy = a.y - b.y;
+	real32 dz = a.z - b.z;
+
+	return dx * dx + dy * dy + dz * dz;
+}
+
+Facetizer::Facetizer() :
+	m_maxEdgeDistMmSq(12.4 * 12.2),  // TODO: Make this a setting or autodetect it based off the distance to table and the detail level
+	m_imageWidth(0)
+{
+
+}
+
+void Facetizer::facetize(FaceMap & faces, std::vector<DataPoint>& results, bool connectLastFrameToFirst, Progress& progress, bool updateVertexNormals)
+{
+	progress.setPercent(0);
+
+	m_imageWidth = Camera::getInstance()->getImageWidth();
+
+
+	uint32 numTriangles = 0;
+
+	int iStep = 0;
+
+	std::vector<DataPoint> firstFrame;
+	std::vector<DataPoint> frameA;
+	std::vector<DataPoint> frameB;
+	std::vector<DataPoint> frameC;
+
+	std::vector<DataPoint> * currentFrame = &frameA;
+	std::vector<DataPoint> * lastFrame = &frameB;
+
+	size_t resultIndex = 0;
+	size_t totNumPoints = 0;
+
+	// Set the index of the data points
+	for (size_t iPt = 0; iPt < results.size(); iPt++)
+	{
+		results[iPt].index = (uint32) iPt;
+	}
+
+	real percent = 0;
+	while (DataPoint::readNextFrame(frameC, results, resultIndex))
+	{
+		real newPct = 100.0f * resultIndex / results.size();
+		if (newPct - percent > 0.1)
+		{
+			progress.setPercent(newPct);
+			percent = newPct;
+		}
+
+		* currentFrame = frameC;
+		totNumPoints += currentFrame->size();
+
+		// Sort the results in decreasing Y
+		//std::sort(currentFrame->begin(), currentFrame->end(), SortRecordByYValue);
+
+		if (iStep > 0)
+		{
+			addFacesForColumn(* currentFrame, * lastFrame, faces, numTriangles);
+		}
+		else if (connectLastFrameToFirst)
+		{
+			// Store the first frame for usage later on
+			firstFrame = frameC;
+		}
+
+		// Swap to the other buffer to populate it
+		std::vector<DataPoint> * tmpFrame = lastFrame;
+		lastFrame = currentFrame;
+		currentFrame = tmpFrame;
+
+		iStep++;
+	}
+
+	// If this was a full scan close the loop
+	if (connectLastFrameToFirst && iStep > 0)
+	{
+		totNumPoints += firstFrame.size();
+		addFacesForColumn(firstFrame, * lastFrame, faces, numTriangles);
+	}
+
+	std::cout << "Meshed " << (iStep + 1) << " scans with a total of " << totNumPoints << " points." << std::endl;
+
+	std::cout << "Computing vertex normals..." << std::endl;
+
+	const std::vector<unsigned>& triangles = faces.triangles;
+
+	Vector3 normal;
+	for (size_t idx = 0; idx < triangles.size(); idx += 3)
+	{
+		ColoredPoint& pt1 = results[triangles[idx]].point;
+		ColoredPoint& pt2 = results[triangles[idx + 1]].point;
+		ColoredPoint& pt3 = results[triangles[idx + 2]].point;
+
+		Vector3 v1 (pt2.x - pt1.x, pt2.y - pt1.y, pt2.z - pt1.z);
+		Vector3 v2 (pt3.x - pt2.x, pt3.y - pt2.y, pt3.z - pt2.z);
+
+		v1.cross(normal, v2);
+		normal.normalize();
+
+		pt1.normal = normal;
+		pt2.normal = normal;
+		pt3.normal = normal;
+	}
+
+	std::cout << "Vertex normals computed." << std::endl;
+}
+
+bool Facetizer::isInwardFacingFace(const DataPoint& p1, const DataPoint& p2, const DataPoint& p3)
+{
+	int laserSide = p1.laserSide;
+	bool inwardFacing = false;
+	float halfImageWidth = m_imageWidth * 0.5f; // If it's past the centerline then it will result in an inward facing triangle
+
+	if (laserSide == (int)Laser::LEFT_LASER)
+	{
+		inwardFacing = p1.pixel.x > halfImageWidth || p2.pixel.x > halfImageWidth || p3.pixel.x > halfImageWidth;
+	}
+	else if (laserSide == (int)Laser::RIGHT_LASER)
+	{
+		inwardFacing = p1.pixel.x < halfImageWidth || p2.pixel.x < halfImageWidth || p3.pixel.x < halfImageWidth;
+	}
+	else
+	{
+		throw Exception("Unsupported LaserSide in StlWriter::isInwardFacingFace");
+	}
+
+	return inwardFacing;
+}
+
+
+/*
+foreach column
+	set row to 0
+	foreach pt in prev_column
+		// Fan connect to the row
+		while cell[row] is within range and cell[row + 1] is within range and closer to this point than the one below
+			createTriangle(pt, cell[row], cell[row + 1])
+			row++
+
+		// Extend mesh down to start processing the next point
+		if nextPt is within range
+			createTriangle(pt, nextPt, cell[row])
+
+
+ */
+void Facetizer::addFacesForColumn(const std::vector<DataPoint>& currentFrame, const std::vector<DataPoint>& lastFrame, FaceMap& faces, uint32& numTriangles)
+{
+	size_t iCur = 0;
+
+	for (size_t iLst = 0; iLst + 1 < lastFrame.size(); iLst++)
+	{
+		const DataPoint & l1 = lastFrame[iLst];
+		const DataPoint & l2 = lastFrame[iLst + 1];
+
+		// If the current point is in range
+		while (iCur + 1 < currentFrame.size())
+		{
+			const DataPoint & c1 = currentFrame[iCur];
+			const DataPoint & c2 = currentFrame[iCur + 1];
+
+			// If there is a hole in the model, skip along until there isn't one
+			if (isValidTriangle(l1.point, c1.point, c2.point))
+			{
+				real32 distSq1 = DistanceSquared(l1.point, c2.point);
+				real32 distSq2 = DistanceSquared(l2.point, c2.point);
+
+				// While this C point is closer to this L point than the next L point, create a triangle fan with it
+				// Don't generate triangles bigger than our maximum allowable edge distance
+				// if (distSq1 < distSq2 && distSq1 <= m_maxEdgeDistMmSq)
+				if (distSq1 < distSq2)
+				{
+					// Determine if we need to flip the normal or not
+					bool flipNormal = isInwardFacingFace(l1, c1, c2);
+					addTriangle(l1, c1, c2, flipNormal, faces);
+					numTriangles++;
+				}
+				else
+				{
+					// Connect to this triangle
+					if (isValidTriangle(l2.point, l1.point, c1.point))
+					{
+						bool flipNormal = isInwardFacingFace(l2, l1, c1);
+						addTriangle(l2, l1, c1, flipNormal, faces);
+						numTriangles++;
+					}
+					else
+					{
+						iCur++;
+					}
+
+					// It's closer to the next L point, so advance to it
+					break;
+				}
+			}
+			else
+			{
+				iCur++;
+				break;
+			}
+
+			// Advance to the next row
+			iCur++;
+		}
+	}
+}
+
+bool Facetizer::isValidTriangle(const ColoredPoint& pt1, const ColoredPoint& pt2, const ColoredPoint& pt3)
+{
+	if (DistanceSquared(pt1, pt2) > m_maxEdgeDistMmSq)
+	{
+		return false;
+	}
+	else if (DistanceSquared(pt1, pt3) > m_maxEdgeDistMmSq)
+	{
+		return false;
+	}
+	else if (DistanceSquared(pt2, pt3) > m_maxEdgeDistMmSq)
+	{
+		return false;
+	}
+
+	return true;
+}
+
+void Facetizer::addTriangle(const DataPoint& pt1, const DataPoint& pt2, const DataPoint& pt3, bool flipNormal, FaceMap& faces)
+{
+	if (!flipNormal)
+	{
+		faces.triangles.push_back(pt1.index);
+		faces.triangles.push_back(pt2.index);
+		faces.triangles.push_back(pt3.index);
+	}
+	else
+	{
+		faces.triangles.push_back(pt3.index);
+		faces.triangles.push_back(pt2.index);
+		faces.triangles.push_back(pt1.index);
+	}
+}
+
+}
diff --git a/src/NeutralFileWriter.h b/src/Facetizer.h
similarity index 56%
rename from src/NeutralFileWriter.h
rename to src/Facetizer.h
index 7321682..1ebade7 100644
--- a/src/NeutralFileWriter.h
+++ b/src/Facetizer.h
@@ -20,32 +20,35 @@
 
 #pragma once
 
+#include "Laser.h"
+#include "Progress.h"
+
 namespace freelss
 {
 
-class NeutralFileWriter
+class Facetizer
 {
 public:
-	NeutralFileWriter();
-	~NeutralFileWriter();
-
-	void beginBatch();
-	void commit();
-	void open(const std::string& filename);
-	void close();
-	void write(const NeutralFileRecord& record);
-private:
-
-	void prepareStatement();
+	Facetizer();
 
-	/** The SQL for creating the database */
-	static const char * CREATE_DATABASE_SQL;
+	void facetize(FaceMap & outFaces, std::vector<DataPoint>& results, bool connectLastFrameToFirst, Progress& progress, bool updateVertexNormals);
 
-	/** The Sqlite database */
-	sqlite3 * m_db;
-
-	/** The prepared statement */
-	sqlite3_stmt * m_stmt;
+private:
+	/**
+	 * Indicates if the face is oriented point into the model and the normal needs to get flipped.
+	 * This method assumes that the camera is looking straight down -z and x = 0.  The y doesn't matter.
+	 * This method assumes that all points were taken from the same laser.
+	 */
+	bool isInwardFacingFace(const DataPoint& p1, const DataPoint& p2, const DataPoint& p3);
+	bool isValidTriangle(const ColoredPoint& pt1, const ColoredPoint& pt2, const ColoredPoint& pt3);
+	void addFacesForColumn(const std::vector<DataPoint>& currentFrame, const std::vector<DataPoint>& lastFrame, FaceMap& fout, uint32& numTriangles);
+	void addTriangle(const DataPoint& pt1, const DataPoint& pt2, const DataPoint& pt3, bool flipNormal, FaceMap& fout);
+
+	/** The max triangle edge distance in mm sq */
+	real32 m_maxEdgeDistMmSq;
+
+	/** The image width of the current camera */
+	int m_imageWidth;
 };
 
 }
diff --git a/src/HttpServer.cpp b/src/HttpServer.cpp
index 5659607..075e6b8 100644
--- a/src/HttpServer.cpp
+++ b/src/HttpServer.cpp
@@ -917,14 +917,8 @@ static int ProcessPageRequest(RequestInfo * reqInfo)
 				scanner->setTask(Scanner::GENERATE_DEBUG);
 
 				Preset& preset = PresetManager::get()->getActivePreset();
-				Laser::LaserSide laserSide = preset.laserSide;
-				if (laserSide != Laser::LEFT_LASER && laserSide != Laser::RIGHT_LASER)
-				{
-					laserSide = Laser::RIGHT_LASER;
-					std::cout <<"Defaulting laser side to right laser." << std::endl;
-				}
 
-				scanner->generateDebugInfo(laserSide);
+				scanner->generateDebugInfo(preset.laserSide);
 				ret = RetrieveFile(reqInfo, "/dbg/5.png");
 
 				responded = true;
diff --git a/src/ImageProcessor.cpp b/src/ImageProcessor.cpp
index d4857a3..7954288 100644
--- a/src/ImageProcessor.cpp
+++ b/src/ImageProcessor.cpp
@@ -29,6 +29,8 @@
 #define PEAK_FILTER       0
 #define INV_SQRT_2PI      0.3989422804014327
 
+#define MAX_NUM_LASER_RANGES 3 // TODO: Place this in the settings
+
 #if GUASS_FILTER
 #include <mpfit.h>
 #endif
@@ -115,7 +117,7 @@ ImageProcessor::~ImageProcessor()
 }
 
 int ImageProcessor::process(const Image& before, const Image& after, Image * debuggingImage, PixelLocation * laserLocations,
-		int maxNumLocations, int& firstRowLaserCol, real & percentPixelsOverThreshold, const char * debuggingCsvFile)
+		int maxNumLocations, int& firstRowLaserCol, int& numRowsBadFromColor, int& numRowsBadFromNumRanges, const char * debuggingCsvFile)
 {	
 	const real MAX_MAGNITUDE_SQ = 255 * 255 * 3; // The maximum pixel magnitude sq we can see
 	const real INV_MAX_MAGNITUDE_SQ = 1.0f / MAX_MAGNITUDE_SQ;
@@ -143,9 +145,7 @@ int ImageProcessor::process(const Image& before, const Image& after, Image * deb
 	unsigned rowStep = width * components;
 
 	int numLocations = 0;
-
 	int numMerged = 0;
-	int numPixelsOverThreshold = 0;
 
 	// The location that we last detected a laser line
 	int prevLaserCol = firstRowLaserCol;
@@ -165,17 +165,14 @@ int ImageProcessor::process(const Image& before, const Image& after, Image * deb
 		for (unsigned iCol = 0; iCol < rowStep; iCol += components)
 		{
 			// Perform image subtraction
-#if 0 // Only consider the red channel
-			const int r = (int)br[iCol + 0] - (int)ar[iCol + 0];
-			const int magSq = r * r;
-			real mag = 255.0f * (magSq * 0.000015379f);
-#else // Use general magnitude
+
+			// Use general magnitude
 			const int r = (int)br[iCol + 0] - (int)ar[iCol + 0];
 			const int g = (int)br[iCol + 1] - (int)ar[iCol + 1];
 			const int b = (int)br[iCol + 2] - (int)ar[iCol + 2];
 			const int magSq = r * r + g * g + b * b;
 			real mag = 255.0f * (magSq * INV_MAX_MAGNITUDE_SQ);
-#endif
+
 			if (writeDebugImage)
 			{
 				if (mag > m_laserMagnitudeThreshold)
@@ -195,9 +192,6 @@ int ImageProcessor::process(const Image& before, const Image& after, Image * deb
 			// Compare it against the threshold
 			if (mag > m_laserMagnitudeThreshold)
 			{
-				// Flag that this pixel was over the threshold value
-				numPixelsOverThreshold++;
-
 				// The start of pixels with laser in them
 				if (m_laserRanges[numLaserRanges].startCol == -1)
 				{
@@ -261,25 +255,41 @@ int ImageProcessor::process(const Image& before, const Image& after, Image * deb
 			rowOut << std::endl;
 		}
 
-		// If we have a valid laser region
-		if (numLaserRanges > 0)
+		// Removes the ranges that on closer inspection don't appear to be caused by the laser
+		if (numLaserRanges < MAX_NUM_LASER_RANGES)
 		{
-			int rangeChoice = detectBestLaserRange(m_laserRanges, numLaserRanges, prevLaserCol);
-			prevLaserCol = m_laserRanges[rangeChoice].centerCol;
+			if (numLaserRanges > 0)
+			{
+				//numLaserRanges = removeInvalidLaserRanges(m_laserRanges, width, numLaserRanges, br);
 
-			real centerCol = detectLaserRangeCenter(m_laserRanges[rangeChoice], ar, br);
+				// If we have a valid laser region
+				if (numLaserRanges > 0)
+				{
+					int rangeChoice = detectBestLaserRange(m_laserRanges, numLaserRanges, prevLaserCol);
+					prevLaserCol = m_laserRanges[rangeChoice].centerCol;
 
-			laserLocations[numLocations].x = centerCol;
-			laserLocations[numLocations].y = iRow;
+					real centerCol = detectLaserRangeCenter(m_laserRanges[rangeChoice], ar, br);
 
-			// If this is the first row that a laser is detected in, set the firstRowLaserCol member
-			if (numLocations == 0)
-			{
-				firstRowLaserCol = m_laserRanges[rangeChoice].startCol;
-			}
+					laserLocations[numLocations].x = centerCol;
+					laserLocations[numLocations].y = iRow;
 
-			numLocations++;
+					// If this is the first row that a laser is detected in, set the firstRowLaserCol member
+					if (numLocations == 0)
+					{
+						firstRowLaserCol = m_laserRanges[rangeChoice].startCol;
+					}
 
+					numLocations++;
+				}
+				else
+				{
+					numRowsBadFromColor++;
+				}
+			}
+		}
+		else
+		{
+			numRowsBadFromNumRanges++;
 		}
 
 		// Increment to the next row
@@ -297,17 +307,114 @@ int ImageProcessor::process(const Image& before, const Image& after, Image * deb
 		std::cout << "Merged " << numMerged << " laser ranges." << std::endl;
 	}
 
+	if (numRowsBadFromColor > 0)
+	{
+		std::cout << "Dropped " << numRowsBadFromColor << " laser rows because the color wasn't red enough. " << std::endl;
+	}
+
+	if (numRowsBadFromNumRanges > 0)
+	{
+		std::cout << numRowsBadFromNumRanges << " laser rows contained too many ranges. " << std::endl;
+	}
+
 	if (debuggingCsvFile != NULL)
 	{
 		rowOut.close();
 	}
 
-	// Compute the number of pixels over the threshold
-	percentPixelsOverThreshold = 100.0f * numPixelsOverThreshold / (width * height);
-
 	return numLocations;
 }
 
+int ImageProcessor::removeInvalidLaserRanges(ImageProcessor::LaserRange * ranges, int imageWidth, int numLaserRanges, unsigned char * br)
+{
+	// Look for a ramp up and ramp down of the red component centered around the laser range to differentiate
+	// a laser from things moving in the background
+	const real MIN_RED_VALUE = 255.0f * 0.85f;
+
+	int components = 3;
+	std::vector<ImageProcessor::LaserRange> goodRanges;  // TODO: Check if this is a bottleneck
+
+	for (int iRng = 0; iRng < numLaserRanges; iRng++)
+	{
+		const ImageProcessor::LaserRange& range = ranges[iRng];
+		int startCol = range.startCol;
+		int endCol = range.endCol;
+		int rangeWidth = endCol - startCol + 1;
+
+		/*
+		int rampWidth = rangeWidth;
+
+		// Determine where to start computing the median of the "pre" portion of the laser line
+		int preStart = MAX(0, startCol - rampWidth);
+		int preWidth = MAX(0, startCol - preStart);
+
+		// Determine where to start computing the median of the "post" portion of the laser line
+		int postStart = MIN(imageWidth, endCol + rampWidth);
+		int postWidth = rampWidth;
+
+		if (postStart + postWidth >= imageWidth)
+		{
+			postWidth = imageWidth - postStart;
+		}
+
+		real preAvg = computeMeanAverage(br + preStart * components, preWidth, components);
+		real postAvg = computeMeanAverage(br + postStart * components, postWidth, components);
+		*/
+
+		real rangeAvg = computeMeanAverage(br + components * startCol, rangeWidth, components);
+
+
+		//std::cout << (int)preAvg << "  " << (int)rangeAvg << "  " << (int)postAvg << std::endl;
+
+		// If there is a ramp up and ramp down then include this range
+		if (rangeAvg > MIN_RED_VALUE)
+		{
+			goodRanges.push_back(range);
+		}
+	}
+
+	// Update the ranges
+	if ((int)goodRanges.size() != numLaserRanges)
+	{
+		for (size_t iRng = 0; iRng < goodRanges.size(); iRng++)
+		{
+			ranges[iRng] = goodRanges[iRng];
+		}
+	}
+
+	return (int) goodRanges.size();
+}
+
+real ImageProcessor::computeMeanAverage(unsigned char * br, int numSteps, int stepSize)
+{
+	real avg = 0;
+	real invStep = 255.0f / numSteps;
+
+	Hsv hsv;
+
+	// Red is the first component of an RGB triplet so we can use br directly
+	for (int iStep = 0; iStep < numSteps; iStep++)
+	{
+		float r = br[iStep * stepSize];
+		float g = br[iStep * stepSize + 1];
+		float b = br[iStep * stepSize + 2];
+
+		toHsv(r, g, b, &hsv);
+
+		 // Red wraps HSV colorspace so check both sides
+		real red = hsv.h <= 180 ? hsv.h : 360 - hsv.h;
+
+		//std::cout << r << "," << g << "," << b << " " << h << " " << red << std::endl;
+
+		// The smaller the value "red" then the closer to the color red it is
+
+		// normalize 0-1 and scale to 0-255
+		avg += ((180 - red) / 180) * invStep;
+	}
+
+	return avg;
+}
+
 real ImageProcessor::detectLaserRangeCenter(const ImageProcessor::LaserRange& range, unsigned char * ar, unsigned char * br)
 {
 	int startCol = range.startCol;
@@ -454,43 +561,58 @@ int ImageProcessor::detectBestLaserRange(ImageProcessor::LaserRange * ranges, in
 	return bestRange;
 }
 
-void ImageProcessor::toHsv(unsigned char r, unsigned char g, unsigned char b, Hsv * hsv)
+void ImageProcessor::toHsv(real r, real g, real b, Hsv * hsv)
 {
-	// Compute the Value
-	unsigned char max = MAX3(r, g, b);
-	hsv->v = static_cast<float>(max);
-	if (max == 0)
+	r /= 255;
+	g /= 255;
+	b /= 255;
+	real h;
+
+	real M = MAX3(r,g,b);
+	real m = MIN3(r,g,b);
+	real C = M - m;
+
+	if (C == 0)
 	{
-		hsv->h = 0;
-		hsv->s = 0;
-		return;
+		h = 0;
+	}
+	else if (M == r)
+	{
+		h = fmodf ((g - b) / C, 6);
+	}
+	else if(M == g)
+	{
+		h = (b - r) / C + 2;
+	}
+	else
+	{
+		h = (r - g) / C + 4;
 	}
 
-	// Compute saturation
-	unsigned char min = MIN3(r, g, b);
-	hsv->s = (max - min) / (real)max;
-
-	float delta = max - min;
+	h *= 60;
 
-	// Compute Hue
-	if(r == max)
+	if (h < 0)
 	{
-		hsv->h = (g - b) / delta;
+		h += 360;
 	}
-	else if(g == max)
+
+	real s;
+	real v = M;
+	if(v == 0)
 	{
-		hsv->h = 2 + (b - r) / delta;
+		s = 0;
 	}
 	else
 	{
-		hsv->h = 4 + (r - g) / delta;
-		hsv->h *= 60;
-
-		if(hsv->h < 0 )
-		{
-			hsv->h += 360;
-		}
+		s = C / v;
 	}
+
+	s *= 100;
+	v *= 100;
+	hsv->h = h;
+	hsv->s = s;
+	hsv->v = v;
+
 }
 
 } // ns scanner
diff --git a/src/ImageProcessor.h b/src/ImageProcessor.h
index a667b23..2f5f137 100644
--- a/src/ImageProcessor.h
+++ b/src/ImageProcessor.h
@@ -42,7 +42,7 @@ class ImageProcessor
 	 * @return Returns the number of locations written to @p laserLocations.
 	 */
 	int process(const Image& before, const Image& after, Image * debuggingImage, PixelLocation * laserLocations, int maxNumLocations,
-			    int& firstRowLaserCol, real & percentPixelsOverThreshold, const char * debuggingCsvFile);
+			    int& firstRowLaserCol, int& numRowsBadFromColor, int& numRowsBadFromNumRanges, const char * debuggingCsvFile);
 
 private:
 
@@ -54,12 +54,17 @@ class ImageProcessor
 		int centerCol;
 	};
 
+	/**  Removes the ranges that on closer inspection don't appear to be caused by the laser */
+	int removeInvalidLaserRanges(ImageProcessor::LaserRange * ranges, int imageWidth, int numRanges, unsigned char * laserOnPixels);
+
 	int detectBestLaserRange(ImageProcessor::LaserRange * ranges, int numRanges, int prevLaserCol);
 
 	real detectLaserRangeCenter(const ImageProcessor::LaserRange& range, unsigned char * ar, unsigned char * br);
 
+	real computeMeanAverage(unsigned char * br, int numSteps, int stepSize);
+
 	/** Converts the RGB color to HSV */
-	static void toHsv(unsigned char r, unsigned char g, unsigned char b, Hsv * hsv);
+	static void toHsv(real r, real g, real b, Hsv * hsv);
 	static const real RED_HUE_LOWER_THRESHOLD;
 	static const real RED_HUE_UPPER_THRESHOLD;
 	static const unsigned RANGE_DISTANCE_THRESHOLD;
diff --git a/src/LaserResultsMerger.cpp b/src/LaserResultsMerger.cpp
index ac9a0bc..1cda68f 100644
--- a/src/LaserResultsMerger.cpp
+++ b/src/LaserResultsMerger.cpp
@@ -35,7 +35,7 @@ LaserResultsMerger::LaserResultsMerger() :
 	// Do nothing
 }
 
-int LaserResultsMerger::getIndex(const NeutralFileRecord& record)
+int LaserResultsMerger::getIndex(const DataPoint& record)
 {
 	real pct1 = record.pseudoFrame / m_numFramesPerRevolution;
 	real pct2 = record.point.y / m_maxPointY;
@@ -46,9 +46,9 @@ int LaserResultsMerger::getIndex(const NeutralFileRecord& record)
 	return dim1 * MASK_DIM_2 + dim2;
 }
 
-void LaserResultsMerger::merge(std::vector<NeutralFileRecord> & out,
-		                       std::vector<NeutralFileRecord> & leftLaserResults,
-		                       std::vector<NeutralFileRecord> & rightLaserResults,
+void LaserResultsMerger::merge(std::vector<DataPoint> & out,
+		                       std::vector<DataPoint> & leftLaserResults,
+		                       std::vector<DataPoint> & rightLaserResults,
 		                       int numFramesPerRevolution,
 		                       int numFramesBetweenLaserPlanes,
 		                       int maxPointY,
@@ -101,7 +101,7 @@ void LaserResultsMerger::merge(std::vector<NeutralFileRecord> & out,
 
 		for (size_t iRight = 0; iRight < rightLaserResults.size(); iRight++)
 		{
-			NeutralFileRecord& right = rightLaserResults[iRight];
+			DataPoint& right = rightLaserResults[iRight];
 			right.pseudoFrame = right.frame;
 
 			// Make the Right laser black
@@ -116,7 +116,7 @@ void LaserResultsMerger::merge(std::vector<NeutralFileRecord> & out,
 		progress.setPercent(10);
 		for (size_t iLeft = 0; iLeft < leftLaserResults.size(); iLeft++)
 		{
-			NeutralFileRecord& left = leftLaserResults[iLeft];
+			DataPoint& left = leftLaserResults[iLeft];
 
 			// Align the frames of the left and right lasers
 			left.pseudoFrame = left.frame + m_numFramesBetweenLaserPlanes;
@@ -145,7 +145,7 @@ void LaserResultsMerger::merge(std::vector<NeutralFileRecord> & out,
 		out = rightLaserResults;
 		for (size_t iRight = 0; iRight < rightLaserResults.size(); iRight++)
 		{
-			NeutralFileRecord& right = rightLaserResults[iRight];
+			DataPoint& right = rightLaserResults[iRight];
 
 			mask[getIndex(right)] = 1;
 		}
@@ -157,7 +157,7 @@ void LaserResultsMerger::merge(std::vector<NeutralFileRecord> & out,
 		//
 		for (size_t iLeft = 0; iLeft < leftLaserResults.size(); iLeft++)
 		{
-			NeutralFileRecord& left = leftLaserResults[iLeft];
+			DataPoint& left = leftLaserResults[iLeft];
 
 			if (mask[getIndex(left)] == 0)
 			{
diff --git a/src/LaserResultsMerger.h b/src/LaserResultsMerger.h
index 4211b68..4323036 100644
--- a/src/LaserResultsMerger.h
+++ b/src/LaserResultsMerger.h
@@ -37,9 +37,9 @@ class LaserResultsMerger
 public:
 	LaserResultsMerger();
 
-	void merge(std::vector<NeutralFileRecord> & out,
-            std::vector<NeutralFileRecord> & leftLaserResults,
-            std::vector<NeutralFileRecord> & rightLaserResults,
+	void merge(std::vector<DataPoint> & out,
+            std::vector<DataPoint> & leftLaserResults,
+            std::vector<DataPoint> & rightLaserResults,
             int numFramesPerRevolution,
             int numFramesBetweenLaserPlanes,
             int maxPointY,
@@ -48,7 +48,7 @@ class LaserResultsMerger
 
 private:
 
-	int getIndex(const NeutralFileRecord& record);
+	int getIndex(const DataPoint& record);
 
 	int m_numFramesBetweenLaserPlanes;
 	real m_numFramesPerRevolution;
diff --git a/src/Main.cpp b/src/Main.cpp
index 0d10e96..a83d0e5 100644
--- a/src/Main.cpp
+++ b/src/Main.cpp
@@ -32,7 +32,7 @@
 #include <curl/curl.h>
 #include <algorithm>
 
-static bool SortRecordByRow(const freelss::NeutralFileRecord& a, const freelss::NeutralFileRecord& b)
+static bool SortRecordByRow(const freelss::DataPoint& a, const freelss::DataPoint& b)
 {
 	return a.pixel.y < b.pixel.y;
 }
@@ -182,7 +182,7 @@ time_t ScanResult::getScanDate() const
 	return files.front().creationTime;
 }
 
-bool NeutralFileRecord::readNextFrame(std::vector<NeutralFileRecord>& out, const std::vector<NeutralFileRecord>& results, size_t & resultIndex)
+bool DataPoint::readNextFrame(std::vector<DataPoint>& out, const std::vector<DataPoint>& results, size_t & resultIndex)
 {
 	out.clear();
 
@@ -201,7 +201,7 @@ bool NeutralFileRecord::readNextFrame(std::vector<NeutralFileRecord>& out, const
 	return true;
 }
 
-void NeutralFileRecord::computeAverage(const std::vector<NeutralFileRecord>& bin, NeutralFileRecord& out)
+void DataPoint::computeAverage(const std::vector<DataPoint>& bin, DataPoint& out)
 {
 	out = bin.front();
 
@@ -219,7 +219,7 @@ void NeutralFileRecord::computeAverage(const std::vector<NeutralFileRecord>& bin
 
 	for (size_t iBin = 0; iBin < bin.size(); iBin++)
 	{
-		const NeutralFileRecord& br = bin[iBin];
+		const DataPoint& br = bin[iBin];
 
 		rotation += invSize * br.rotation;
 		pixelLocationX += invSize * br.pixel.x;
@@ -243,29 +243,34 @@ void NeutralFileRecord::computeAverage(const std::vector<NeutralFileRecord>& bin
 	out.point.b = ptB;
 }
 
-void NeutralFileRecord::lowpassFilter(std::vector<NeutralFileRecord>& output, std::vector<NeutralFileRecord>& frame, unsigned maxNumRows, unsigned numRowBins)
+void DataPoint::lowpassFilter(std::vector<DataPoint>& output, std::vector<DataPoint>& frame, unsigned maxNumRows, unsigned numRowBins)
 {
-	output.clear();
-
 	// Sanity check
 	if (frame.empty())
 	{
 		return;
 	}
 
+	// No binning can occur, so copy
+	if (numRowBins >= maxNumRows)
+	{
+		output.insert(output.end(), frame.begin(), frame.end());
+		return;
+	}
+
 	// Sort by image row
 	std::sort(frame.begin(), frame.end(), SortRecordByRow);
 
 	unsigned binSize = maxNumRows / numRowBins;
 
 	// Holds the current contents of the bin
-	std::vector<NeutralFileRecord> bin;
+	std::vector<DataPoint> bin;
 	unsigned nextBinY = frame.front().pixel.y + binSize;
 
 	// unsigned bin = frame.front().pixel.y / numRowBins;
 	for (size_t iFr = 0; iFr < frame.size(); iFr++)
 	{
-		NeutralFileRecord& record = frame[iFr];
+		DataPoint& record = frame[iFr];
 
 		if (record.pixel.y < nextBinY)
 		{
@@ -276,7 +281,7 @@ void NeutralFileRecord::lowpassFilter(std::vector<NeutralFileRecord>& output, st
 			// Average the bin results and add it to the output
 			if (!bin.empty())
 			{
-				NeutralFileRecord out;
+				DataPoint out;
 				computeAverage(bin, out);
 
 				output.push_back(out);
@@ -291,7 +296,7 @@ void NeutralFileRecord::lowpassFilter(std::vector<NeutralFileRecord>& output, st
 	// Process any results still left in the bin
 	if (!bin.empty())
 	{
-		NeutralFileRecord out;
+		DataPoint out;
 		computeAverage(bin, out);
 
 		output.push_back(out);
diff --git a/src/Main.h b/src/Main.h
index da776f3..1e52faf 100644
--- a/src/Main.h
+++ b/src/Main.h
@@ -83,8 +83,8 @@ The origin is the center of the turn table.
 
 // Non-configurable settings
 #define FREELSS_VERSION_MAJOR 1
-#define FREELSS_VERSION_MINOR 4
-#define FREELSS_VERSION_NAME "FreeLSS 1.4"
+#define FREELSS_VERSION_MINOR 5
+#define FREELSS_VERSION_NAME "FreeLSS 1.5"
 
 #define PI 3.14159265359
 
@@ -107,7 +107,7 @@ The origin is the center of the turn table.
 #endif
 
 #ifndef MAX3
-#define MAX3(a, b, c) (MAX(MIN(a, b), c))
+#define MAX3(a, b, c) (MAX(MAX(a, b), c))
 #endif
 
 namespace freelss
@@ -117,6 +117,7 @@ typedef std::string Exception;
 typedef unsigned char byte;
 typedef unsigned int uint32;
 typedef unsigned short uint16;
+typedef unsigned char uint8;
 typedef float real32;
 typedef double real64;
 typedef float real;
@@ -156,6 +157,9 @@ struct PixelLocation
 /** 3D Real Location */
 struct Vector3
 {
+	Vector3() : x(0), y(0), z(0){ }
+	Vector3(real x, real y, real z) : x(x), y(y), z(z) { }
+
 	void normalize()
 	{
 		real len = sqrt(x * x + y * y + z * z);
@@ -169,6 +173,13 @@ struct Vector3
 		return x * a.x + y * a.y + z * a.z;
 	}
 
+	void cross (Vector3& out, const Vector3& v) const
+	{
+	    out.x = y * v.z - z * v.y;
+	    out.y = z * v.x - x * v.z;
+	    out.z = x * v.y - y * v.x;
+	}
+
 	real x;
 	real y;
 	real z;
@@ -176,9 +187,9 @@ struct Vector3
 
 struct ColoredPoint
 {
-	real x;
-	real y;
-	real z;
+	real32 x;
+	real32 y;
+	real32 z;
 
 	Vector3 normal;
 
@@ -204,35 +215,42 @@ struct Plane
 	Vector3 point;
 };
 
+struct FaceMap
+{
+	/** The triangles */
+	std::vector<unsigned> triangles;
+};
+
 struct Ray
 {
 	Vector3 origin;
 	Vector3 direction;
 };
 
-struct NeutralFileRecord
+struct DataPoint
 {
 	/** Populates frameC with the next frame from the results vector starting at index resultIndex */
-	static bool readNextFrame(std::vector<NeutralFileRecord>& out, const std::vector<NeutralFileRecord>& results, size_t & resultIndex);
+	static bool readNextFrame(std::vector<DataPoint>& out, const std::vector<DataPoint>& results, size_t & resultIndex);
 
 	/**
 	 * Reduce the number of result rows and filter out some of the noise
 	 * @param maxNumRows - The number of rows in the image the produced the frame.
 	 * @param numRowBins - The total number of row bins in the entire image, not necessarily what is returned by this function.
 	 */
-	static void lowpassFilter(std::vector<NeutralFileRecord>& output, std::vector<NeutralFileRecord>& frame, unsigned maxNumRows, unsigned numRowBins);
+	static void lowpassFilter(std::vector<DataPoint>& output, std::vector<DataPoint>& frame, unsigned maxNumRows, unsigned numRowBins);
 
 	/**
 	 * Computes the average of all the records in the bin.
 	 */
-	static void computeAverage(const std::vector<NeutralFileRecord>& bin, NeutralFileRecord& out);
+	static void computeAverage(const std::vector<DataPoint>& bin, DataPoint& out);
 
 	PixelLocation pixel;
 	ColoredPoint point;
 	real rotation;
-	int frame;
-	int laserSide;
-	int pseudoFrame;
+	uint16 frame;
+	uint8 laserSide;
+	uint16 pseudoFrame;
+	uint32 index;
 };
 
 struct ScanResultFile
diff --git a/src/Makefile b/src/Makefile
index 53c61e2..c34ff28 100644
--- a/src/Makefile
+++ b/src/Makefile
@@ -11,11 +11,12 @@ OBJECTS=WebContent.o PropertyReaderWriter.o Main.o \
 	HttpServer.o CriticalSection.o Scanner.o Image.o ImageProcessor.o \
 	Thread.o A4988TurnTable.o RelayLaser.o LocationMapper.o \
 	PlyWriter.o Calibrator.o RaspistillCamera.o \
-	NeutralFileWriter.o NeutralFileReader.o RaspicamCamera.o \
+	RaspicamCamera.o \
 	Camera.o MmalStillCamera.o \
 	MmalVideoCamera.o PixelLocationWriter.o StlWriter.o TurnTable.o \
 	Laser.o Preset.o PresetManager.o Setup.o LaserResultsMerger.o\
-	XyzWriter.o UpdateManager.o Progress.o FileWriter.o MemWriter.o
+	XyzWriter.o UpdateManager.o Progress.o FileWriter.o MemWriter.o \
+	Facetizer.o
 
 all: freelss 
 
@@ -82,12 +83,6 @@ WebContent.o: WebContent.cpp WebContent.h Main.h
 Calibrator.o: Calibrator.cpp Calibrator.h Main.h
 	$(CC) -c $(CFLAGS) Calibrator.cpp
 
-NeutralFileWriter.o: NeutralFileWriter.cpp NeutralFileWriter.h Main.h
-	$(CC) -c $(CFLAGS) NeutralFileWriter.cpp
-
-NeutralFileReader.o: NeutralFileReader.cpp NeutralFileReader.h Main.h
-	$(CC) -c $(CFLAGS) NeutralFileReader.cpp
-
 Camera.o: Camera.cpp Camera.h Main.h
 	$(CC) -c $(CFLAGS) Camera.cpp
 
@@ -127,6 +122,9 @@ FileWriter.o: FileWriter.cpp FileWriter.h Main.h
 MemWriter.o: MemWriter.cpp MemWriter.h Main.h
 	$(CC) -c $(CFLAGS) MemWriter.cpp
 
+Facetizer.o: Facetizer.cpp Facetizer.h Main.h
+	$(CC) -c $(CFLAGS) Facetizer.cpp
+
 github:
 	mkdir -p ../../github
 	mkdir -p ../../github/src
diff --git a/src/MmalStillCamera.cpp b/src/MmalStillCamera.cpp
index 1c0611d..f3f22ad 100644
--- a/src/MmalStillCamera.cpp
+++ b/src/MmalStillCamera.cpp
@@ -37,8 +37,6 @@
 #define FULL_FOV_PREVIEW_4x3_X 1296
 #define FULL_FOV_PREVIEW_4x3_Y 972
 
-#define SCREEN_WIDTH 1920
-#define SCREEN_HEIGHT 1080
 
 
 namespace freelss
diff --git a/src/MmalVideoCamera.cpp b/src/MmalVideoCamera.cpp
index 1d9f332..78fab32 100644
--- a/src/MmalVideoCamera.cpp
+++ b/src/MmalVideoCamera.cpp
@@ -22,33 +22,27 @@
 
 #include "Main.h"
 #include "MmalVideoCamera.h"
+#include "Thread.h"
 
 #define MMAL_CAMERA_PREVIEW_PORT 0
 #define MMAL_CAMERA_VIDEO_PORT   1
 #define MMAL_CAMERA_CAPTURE_PORT 2
 #define VIDEO_OUTPUT_BUFFERS_NUM 3
 
-#define FULL_RES_VIDEO_FRAME_RATE_NUM 30
 #define FULL_RES_VIDEO_FRAME_RATE_DEN 1
 
-#define FULL_FOV_PREVIEW_4x3_X 1296
-#define FULL_FOV_PREVIEW_4x3_Y 972
-
-#define MMAL_SPLITTER_VIDEO_PORT 0
-#define MMAL_SPLITTER_CAPTURE_PORT 1
-
-//#define CAMERA_IMAGE_WIDTH 2592
-//#define CAMERA_IMAGE_HEIGHT 1944
-
-#define CAMERA_IMAGE_WIDTH 1280
-#define CAMERA_IMAGE_HEIGHT 960
-
 namespace freelss
 {
 
 struct Mmal_CallbackData
 {
-	Mmal_CallbackData()
+	Mmal_CallbackData() :
+		acquire(false),
+		buffer(NULL),
+		bufferSize(0),
+		bytesWritten(0),
+		pool(NULL),
+		outputQueue(NULL)
 	{
 		vcos_assert(vcos_semaphore_create(&complete_semaphore, "Scanner-Video-sem", 0) == VCOS_SUCCESS);
 	}
@@ -58,6 +52,7 @@ struct Mmal_CallbackData
 		vcos_semaphore_delete(&complete_semaphore);
 	}
 
+	bool acquire;
 	byte * buffer;
 	size_t bufferSize;
 	size_t bytesWritten;
@@ -67,128 +62,54 @@ struct Mmal_CallbackData
 	MMAL_QUEUE_T * outputQueue;
 };
 
-static MMAL_STATUS_T connect_ports(MMAL_PORT_T *output_port, MMAL_PORT_T *input_port, MMAL_CONNECTION_T **connection)
-{
-   MMAL_STATUS_T status;
-
-   status =  mmal_connection_create(connection, output_port, input_port, MMAL_CONNECTION_FLAG_TUNNELLING | MMAL_CONNECTION_FLAG_ALLOCATION_ON_INPUT);
-
-   if (status == MMAL_SUCCESS)
-   {
-      status =  mmal_connection_enable(*connection);
-      if (status != MMAL_SUCCESS)
-      {
-    	  mmal_connection_destroy(*connection);
-      }
-   }
-
-   return status;
-}
-
-static void CameraControlCallback(MMAL_PORT_T *port, MMAL_BUFFER_HEADER_T *buffer)
-{
-	if (buffer->cmd != MMAL_EVENT_PARAMETER_CHANGED)
-	{
-		std::cerr << "Received unexpected camera control callback event" << std::endl;
-	}
-
-	mmal_buffer_header_release(buffer);
-}
 
-#if 1
 static void EncoderBufferCallback(MMAL_PORT_T *port, MMAL_BUFFER_HEADER_T *buffer)
 {
-	std::cout << "In EncoderBufferCallback" << std::endl;
-
-	Mmal_CallbackData *pData = (Mmal_CallbackData *)port->userdata;
-
-	//to handle the user not reading frames, remove and return any pre-existing ones
-	if(mmal_queue_length(pData->outputQueue) >= 2)
-	{
-		if(MMAL_BUFFER_HEADER_T* existing_buffer = mmal_queue_get(pData->outputQueue))
-		{
-			mmal_buffer_header_release(existing_buffer);
-			if (port->is_enabled)
-			{
-				MMAL_STATUS_T status = MMAL_SUCCESS;
-				MMAL_BUFFER_HEADER_T *new_buffer;
-				new_buffer = mmal_queue_get(pData->pool->queue);
-				if (new_buffer)
-				{
-					status = mmal_port_send_buffer(port, new_buffer);
-				}
-
-				if (!new_buffer || status != MMAL_SUCCESS)
-				{
-					std::cerr << "Unable to return a buffer to the video port" << std::endl;
-				}
-			}
-		}
-	}
-
-		//add the buffer to the output queue
-		mmal_queue_put(pData->outputQueue, buffer);
-}
-#else
-static void EncoderBufferCallback(MMAL_PORT_T *port, MMAL_BUFFER_HEADER_T *buffer)
-{
-   int complete = 0;
-
    // We pass our file handle and other stuff in via the userdata field.
 
    Mmal_CallbackData *pData = (Mmal_CallbackData *)port->userdata;
 
    bool imageTaken = false;
 
-   std::cout << "EncoderBufferCallback" << std::endl;
+   //std::cout << "EncoderBufferCallback" << std::endl;
 
    if (pData)
    {
-      int bytes_written = buffer->length;
-
       if (buffer->length)
       {
          // Copy the image data
          pData->cs.enter();
-         std::cout << "EncoderBufferCallback - Locking buffer" << std::endl;
-         mmal_buffer_header_mem_lock(buffer);
 
-         if (pData->buffer != NULL)
+         if (pData->acquire)
          {
-			 int writeSize = buffer->length;
-			 if (pData->bytesWritten + writeSize > pData->bufferSize)
-			 {
-				 writeSize = pData->bufferSize - pData->bytesWritten;
-			 }
+			 //std::cout << "EncoderBufferCallback - Locking buffer" << std::endl;
+			 mmal_buffer_header_mem_lock(buffer);
 
-			 // Copy to our image buffer and move the pointer forward
-			 if (writeSize > 0)
+			 if (pData->buffer != NULL  && pData->bytesWritten == 0)
 			 {
-				 // memcpy(pData->buffer, buffer->data, writeSize);
+				 int writeSize = buffer->length;
 
-				 // The data is RGBA so we must copy just the RGB bytes
-				 int step = 1;
-				 byte * dst = pData->buffer;
-				 for (int i = 0; i < buffer->length; i++)
+				 // Copy to our image buffer and move the pointer forward
+				 if (writeSize > 0)
 				 {
-					 * dst = buffer->data[i];
-					 dst++;
-
-					 if (step == 3)
-					 {
-						 i++;
-						 step = 1;
-					 }
+					 memcpy(pData->buffer, buffer->data, MIN(writeSize, pData->bufferSize));
+
+					 pData->bytesWritten += writeSize;
+					 imageTaken = true;
+
+					 //std::cerr << "SRC Buffer Length: " << buffer->length << std::endl;
+					 //std::cerr << "SRC Buffer Offset: " << buffer->offset << std::endl;
+					 //std::cerr << "DST Buffer Size: " << pData->bufferSize << std::endl;
+					 //std::cerr << "TOT Bytes Written: " << pData->bytesWritten << std::endl;
+					 //std::cerr << "Write Size: " << writeSize << std::endl;
 				 }
 			 }
 
-			 // Unset our buffer now that we have copied to it
-			 pData->buffer = NULL;
-			 imageTaken = true;
-         }
+			 //std::cout << "EncoderBufferCallback - Unlocking buffer" << std::endl;
+			 mmal_buffer_header_mem_unlock(buffer);
 
-         std::cout << "EncoderBufferCallback - Unlocking buffer" << std::endl;
-         mmal_buffer_header_mem_unlock(buffer);
+			 pData->acquire = false;
+         }
          pData->cs.leave();
       }
    }
@@ -200,7 +121,7 @@ static void EncoderBufferCallback(MMAL_PORT_T *port, MMAL_BUFFER_HEADER_T *buffe
    // Notify the user that the image is ready
    if (imageTaken)
    {
-	   std::cout << "EncoderBufferCallback - Posting semaphore" << std::endl;
+	   //std::cout << "EncoderBufferCallback - Posting semaphore" << std::endl << std::endl;
 	   vcos_semaphore_post(&(pData->complete_semaphore));
    }
 
@@ -208,41 +129,37 @@ static void EncoderBufferCallback(MMAL_PORT_T *port, MMAL_BUFFER_HEADER_T *buffe
    mmal_buffer_header_release(buffer);
 
    // and send one back to the port (if still open)
-   if (port->is_enabled)
+   if (port->is_enabled && pData->pool && pData->pool->queue)
    {
-	  std::cout << "EncoderBufferCallback - Requeing buffer" << std::endl;
-      MMAL_STATUS_T status = MMAL_SUCCESS;
-      MMAL_BUFFER_HEADER_T *new_buffer;
-
-      new_buffer = mmal_queue_get(pData->pool->queue);
+	  //std::cout << "EncoderBufferCallback - Requeing buffer" << std::endl;
+      MMAL_BUFFER_HEADER_T *new_buffer = NULL;
 
-      if (new_buffer)
+      if (pData->pool && pData->pool->queue)
       {
-         status = mmal_port_send_buffer(port, new_buffer);
+    	  new_buffer = mmal_queue_get(pData->pool->queue);
       }
 
-      if (!new_buffer || status != MMAL_SUCCESS)
+      if (new_buffer)
       {
-         std::cerr << "Unable to return a buffer to the encoder port" << std::endl;
+          mmal_port_send_buffer(port, new_buffer);
       }
+
+      //std::cout << "EncoderBufferCallback - Buffer Returned" << std::endl;
    }
 }
-#endif
 
-MmalVideoCamera::MmalVideoCamera() :
+MmalVideoCamera::MmalVideoCamera(int imageWidth, int imageHeight, int frameRate) :
+	m_imageWidth(imageWidth),
+	m_imageHeight(imageHeight),
+	m_frameRate(frameRate),
+	m_imagePreviewWidth(VCOS_ALIGN_UP(imageWidth, 32)),
+	m_imagePreviewHeight(VCOS_ALIGN_UP(imageHeight, 16)),
 	m_callbackData(NULL),
 	m_camera(NULL),
-	m_preview(NULL),
-	m_resizer(NULL),
-	m_splitter(NULL),
 	m_pool(NULL),
-	m_previewPort(NULL),
 	m_videoPort(NULL),
 	m_stillPort(NULL),
-	m_resizerPort(NULL),
 	m_targetPort(NULL),
-	m_splitterPort(NULL),
-	m_outputQueue(NULL),
 	m_targetPortEnabled(false)
 {
 	m_callbackData = new Mmal_CallbackData();
@@ -250,50 +167,22 @@ MmalVideoCamera::MmalVideoCamera() :
 	createCameraComponent();
 	std::cout << "Created camera" << std::endl;
 
-	createPreview();
-	std::cout << "Created preview" << std::endl;
+	//std::cout << "Target Image Width: " << VCOS_ALIGN_UP(m_imageWidth, 32) << std::endl;
+	//std::cout << "Target Image Height: " << VCOS_ALIGN_UP(m_imageHeight, 16) << std::endl;
 
-	createSplitter();
-	std::cout << "Created splitter" << std::endl;
+	std::cout << "Target Image Width: " << m_imageWidth << std::endl;
+	std::cout << "Target Image Height: " << m_imageHeight << std::endl;
 
-	createResizer();
-	std::cout << "Created resizer" << std::endl;
-
-	std::cout << "Target Image Width: " << VCOS_ALIGN_UP(CAMERA_IMAGE_WIDTH, 32) << std::endl;
-	std::cout << "Target Image Height: " << VCOS_ALIGN_UP(CAMERA_IMAGE_HEIGHT, 16) << std::endl;
-
-
-	MMAL_STATUS_T status;
-
-	// We will read from the resizer
-	m_targetPort = m_resizerPort;
+	m_targetPort = m_videoPort;
 
 	createBufferPool();
-	std::cout << "Created buffer pool" << std::endl;
-
-	// Hook-up the preview port because the camera requires it
-	MMAL_CONNECTION_T *preview_connection = NULL;
-	status = connect_ports(m_previewPort, m_preview->input[0], &preview_connection);
-	if (status != MMAL_SUCCESS)
-	{
-		throw Exception("Error connecting preview port");
-	}
-
-	// Connect the video to the splitter
-	MMAL_CONNECTION_T *splitter_connection = NULL;
-	status = connect_ports(m_videoPort, m_splitter->input[0], &splitter_connection);
-	if (status != MMAL_SUCCESS)
-	{
-		throw Exception("Error connecting preview port");
-	}
 
-	// Connect the splitter to our resizer
-	MMAL_CONNECTION_T *resizer_connection = NULL;
-	status = connect_ports(m_splitterPort, m_resizer->input[0], &resizer_connection);
-	if (status != MMAL_SUCCESS)
+	double startTime = GetTimeInSeconds();
+	do
 	{
-		throw Exception("Failed to connect camera video out port to resizer input port");
-	}
+		sendBuffers();
+		Thread::usleep(10000);
+	} while ((GetTimeInSeconds() - startTime) < 1);
 
 	std::cout << "Initialized camera" << std::endl;
 }
@@ -309,19 +198,9 @@ MmalVideoCamera::~MmalVideoCamera()
 		}
 	}
 
-	if (m_outputQueue != NULL)
-	{
-		mmal_queue_destroy(m_outputQueue);
-	}
-
 	if (m_camera != NULL)
 	{
-		mmal_component_destroy(m_camera);
-	}
-
-	if (m_preview != NULL)
-	{
-		mmal_component_destroy(m_preview);
+		mmal_component_disable(m_camera);
 	}
 
 	if (m_pool != NULL)
@@ -329,74 +208,14 @@ MmalVideoCamera::~MmalVideoCamera()
 		mmal_port_pool_destroy(m_targetPort, m_pool);
 	}
 
-	if (m_splitter != NULL)
-	{
-		mmal_component_destroy(m_splitter);
-	}
-
-	if (m_resizer != NULL)
+	if (m_camera != NULL)
 	{
-		mmal_component_destroy(m_resizer);
+		mmal_component_destroy(m_camera);
 	}
 
 	delete m_callbackData;
 }
 
-void MmalVideoCamera::createSplitter()
-{
-	if (m_videoPort == NULL)
-	{
-		throw Exception("Video port is not configured");
-	}
-
-	if (m_splitter != NULL)
-	{
-		throw Exception("The splitter is already configured");
-	}
-
-	MMAL_PORT_T *input_port = NULL, *output_port = NULL;
-	MMAL_STATUS_T status;
-
-	//create the camera component
-	status = mmal_component_create(MMAL_COMPONENT_DEFAULT_VIDEO_SPLITTER, &m_splitter);
-	if (status != MMAL_SUCCESS)
-	{
-		throw Exception("Failed to create splitter component");
-	}
-
-	//check we have output ports
-	if (m_splitter->output_num != 4 || m_splitter->input_num != 1)
-	{
-		throw Exception("Splitter doesn't have correct ports");
-	}
-
-	//get the ports
-	input_port = m_splitter->input[0];
-	mmal_format_copy(input_port->format, m_videoPort->format);
-
-	input_port->buffer_num = 3;
-
-	status = mmal_port_format_commit(input_port);
-	if (status != MMAL_SUCCESS)
-	{
-		throw Exception("Couldn't set resizer input port format");
-	}
-
-	for(unsigned i = 0; i < m_splitter->output_num; i++)
-	{
-		output_port = m_splitter->output[i];
-		output_port->buffer_num = 3;
-
-		mmal_format_copy(output_port->format, input_port->format);
-		status = mmal_port_format_commit(output_port);
-		if (status != MMAL_SUCCESS)
-		{
-			throw Exception("Couldn't set resizer output port format");
-		}
-	}
-
-	m_splitterPort = m_splitter->output[MMAL_SPLITTER_CAPTURE_PORT];
-}
 
 void MmalVideoCamera::createBufferPool()
 {
@@ -428,22 +247,7 @@ void MmalVideoCamera::createBufferPool()
 	}
 
 	// Send all the buffers to the encoder output port
-	int num = mmal_queue_length(m_pool->queue);
-
-	for (int q = 0; q < num; q++)
-	{
-		MMAL_BUFFER_HEADER_T *buffer = mmal_queue_get(m_pool->queue);
-
-		if (buffer == NULL)
-		{
-			std::cerr << "Unable to get buffer " << q << " from the pool" << std::endl;
-		}
-
-		if (mmal_port_send_buffer(m_targetPort, buffer)!= MMAL_SUCCESS)
-		{
-			std::cerr << "Unable to send a buffer " << q << " to encoder output port " << std::endl;
-		}
-	}
+	sendBuffers();
 
 	// Start the capture
 	if (mmal_port_parameter_set_boolean(m_videoPort, MMAL_PARAMETER_CAPTURE, 1) != MMAL_SUCCESS)
@@ -452,139 +256,6 @@ void MmalVideoCamera::createBufferPool()
 	}
 }
 
-void MmalVideoCamera::createResizer()
-{
-	MMAL_COMPONENT_T *resizer = NULL;
-	MMAL_PORT_T *resizer_input = NULL, *resizer_output = NULL;
-	MMAL_STATUS_T status;
-	MMAL_QUEUE_T* output_queue = NULL;
-
-	if (m_videoPort == NULL)
-	{
-		throw Exception("Video port is NULL");
-	}
-
-	try
-	{
-		status = mmal_component_create("vc.ril.resize", &resizer);
-		if (status != MMAL_SUCCESS)
-		{
-			throw Exception("Unable to create image resizer component");
-		}
-
-		if (resizer->input_num != 1 || resizer->output_num != 1)
-		{
-			throw Exception("Resizer doesn't have input/output ports");
-		}
-
-		resizer_output = resizer->output[0];
-		resizer_input = resizer->input[0];
-
-		// Specify the input format
-		mmal_format_copy(resizer_input->format, m_videoPort->format);
-		resizer_input->buffer_num = 3;
-		status = mmal_port_format_commit(resizer_input);
-		if (status != MMAL_SUCCESS)
-		{
-			throw Exception("Unable to set format on image resizer input port");
-		}
-
-		// Specify out output format
-		mmal_format_copy(resizer_output->format, resizer_input->format);
-		resizer_output->format->encoding = MMAL_ENCODING_RGBA;          //MMAL_ENCODING_BGR24; // MMAL_ENCODING_RGBA
-		resizer_output->format->encoding_variant = MMAL_ENCODING_RGBA;  //MMAL_ENCODING_BGR24; // MMAL_ENCODING_RGBA
-		resizer_output->format->es->video.width = VCOS_ALIGN_UP(CAMERA_IMAGE_WIDTH, 32);
-		resizer_output->format->es->video.height = VCOS_ALIGN_UP(CAMERA_IMAGE_HEIGHT, 16);
-		resizer_output->format->es->video.crop.x = 0;
-		resizer_output->format->es->video.crop.y = 0;
-		resizer_output->format->es->video.crop.width = VCOS_ALIGN_UP(CAMERA_IMAGE_WIDTH, 32);
-		resizer_output->format->es->video.crop.height = VCOS_ALIGN_UP(CAMERA_IMAGE_HEIGHT, 16);
-		resizer_output->format->es->video.frame_rate.num = FULL_RES_VIDEO_FRAME_RATE_NUM;
-		resizer_output->format->es->video.frame_rate.den = FULL_RES_VIDEO_FRAME_RATE_DEN;
-
-		// Commit the port changes to the output port
-		status = mmal_port_format_commit(resizer_output);
-		if (status != MMAL_SUCCESS)
-		{
-			throw Exception("Unable to set format on image resizer output port");
-		}
-
-		// Enable the resizer component
-		status = mmal_component_enable(resizer);
-		if (status != MMAL_SUCCESS)
-		{
-			throw Exception("Error enabling resizer");
-		}
-
-		/* UML
-		//create the output queue
-		output_queue = mmal_queue_create();
-		if(!output_queue)
-		{
-			throw Exception("Error creating output queue");
-		}
-		*/
-	}
-	catch (Exception& ex)
-	{
-		std::cerr << ex << std::endl;
-		if (resizer != NULL)
-		{
-			mmal_component_destroy(resizer);
-			resizer = NULL;
-		}
-
-		throw;
-	}
-	catch (...)
-	{
-		std::cerr << "Unknown error occurred" << std::endl;
-		if (resizer != NULL)
-		{
-			mmal_component_destroy(resizer);
-			resizer = NULL;
-		}
-
-		throw;
-	}
-
-	m_resizer = resizer;
-	m_resizerPort = resizer_output;
-	m_outputQueue = output_queue;
-	m_callbackData->outputQueue = m_outputQueue;
-}
-
-void MmalVideoCamera::createPreview()
-{
-	MMAL_COMPONENT_T * preview = NULL;
-	MMAL_STATUS_T status;
-
-	try
-	{
-		status = mmal_component_create("vc.null_sink", &preview);
-		if (status != MMAL_SUCCESS)
-		{
-			throw Exception("Error creating preview sink");
-		}
-
-		status = mmal_component_enable(preview);
-		if (status != MMAL_SUCCESS)
-		{
-			throw Exception("Error enabling preview");
-		}
-	}
-	catch (...)
-	{
-		if (preview != NULL)
-		{
-			mmal_component_destroy(preview);
-		}
-
-		throw;
-	}
-
-	m_preview = preview;
-}
 
 void MmalVideoCamera::createCameraComponent()
 {
@@ -611,23 +282,18 @@ void MmalVideoCamera::createCameraComponent()
 		video_port = camera->output[MMAL_CAMERA_VIDEO_PORT];
 		still_port = camera->output[MMAL_CAMERA_CAPTURE_PORT];
 
-		// Enable the camera, and tell it its control callback function
-		status = mmal_port_enable(camera->control, CameraControlCallback);
-		if (status != MMAL_SUCCESS)
-		{
-			throw Exception("Unable to enable control port");
-		}
-
 		//  Populate the camera configuration struct
 		MMAL_PARAMETER_CAMERA_CONFIG_T cameraConfig;
 		cameraConfig.hdr.id = MMAL_PARAMETER_CAMERA_CONFIG;
 		cameraConfig.hdr.size = sizeof(cameraConfig);
-		cameraConfig.max_stills_w = CAMERA_IMAGE_WIDTH;
-		cameraConfig.max_stills_h = CAMERA_IMAGE_HEIGHT;
+		cameraConfig.max_stills_w = m_imageWidth;
+		cameraConfig.max_stills_h = m_imageHeight;
 		cameraConfig.stills_yuv422 = 0;
-		cameraConfig.one_shot_stills = 1;
-		cameraConfig.max_preview_video_w = VCOS_ALIGN_UP(FULL_FOV_PREVIEW_4x3_X, 32);
-		cameraConfig.max_preview_video_h = VCOS_ALIGN_UP(FULL_FOV_PREVIEW_4x3_Y, 16);
+		cameraConfig.one_shot_stills = 0;
+		//cameraConfig.max_preview_video_w = VCOS_ALIGN_UP(m_imagePreviewWidth, 32);
+		//cameraConfig.max_preview_video_h = VCOS_ALIGN_UP(m_imagePreviewHeight, 16);
+		cameraConfig.max_preview_video_w = m_imagePreviewWidth;
+		cameraConfig.max_preview_video_h = m_imagePreviewHeight;
 		cameraConfig.num_preview_video_frames = 3;
 		cameraConfig.stills_capture_circular_buffer_height = 0;
 		cameraConfig.fast_preview_resume = 0;
@@ -639,42 +305,22 @@ void MmalVideoCamera::createCameraComponent()
 			throw Exception("Error calling mmal_port_parameter_set()");
 		}
 
-		//
-		// Setup the preview port
-		//
-		format = preview_port->format;
-		format->encoding = MMAL_ENCODING_OPAQUE;
-		format->encoding_variant = MMAL_ENCODING_I420;
-
-		format->es->video.width = VCOS_ALIGN_UP(FULL_FOV_PREVIEW_4x3_X, 32);
-		format->es->video.height = VCOS_ALIGN_UP(FULL_FOV_PREVIEW_4x3_Y, 16);
-		format->es->video.crop.x = 0;
-		format->es->video.crop.y = 0;
-		format->es->video.crop.width = FULL_FOV_PREVIEW_4x3_X;
-		format->es->video.crop.height = FULL_FOV_PREVIEW_4x3_Y;
-		format->es->video.frame_rate.num = FULL_RES_VIDEO_FRAME_RATE_NUM;
-		format->es->video.frame_rate.den = FULL_RES_VIDEO_FRAME_RATE_DEN;
-
-		status = mmal_port_format_commit(preview_port);
-		if (status != MMAL_SUCCESS)
-		{
-			throw Exception("Failure to setup camera preview port");
-		}
-
 		//
 		// Setup the video port
 		//
 		format = video_port->format;
-		format->encoding = MMAL_ENCODING_I420;
-		format->encoding_variant = MMAL_ENCODING_I420;
+		format->encoding = MMAL_ENCODING_BGR24;
+		format->encoding_variant = MMAL_ENCODING_BGR24;
 
-		format->es->video.width = VCOS_ALIGN_UP(CAMERA_IMAGE_WIDTH, 32);
-		format->es->video.height = VCOS_ALIGN_UP(CAMERA_IMAGE_HEIGHT, 16);
+		format->es->video.width = VCOS_ALIGN_UP(m_imageWidth, 32);
+		format->es->video.height = VCOS_ALIGN_UP(m_imageHeight, 16);
+		//format->es->video.width = m_imageWidth;
+		//format->es->video.height = m_imageHeight;
 		format->es->video.crop.x = 0;
 		format->es->video.crop.y = 0;
-		format->es->video.crop.width = CAMERA_IMAGE_WIDTH;
-		format->es->video.crop.height = CAMERA_IMAGE_HEIGHT;
-		format->es->video.frame_rate.num = FULL_RES_VIDEO_FRAME_RATE_NUM;
+		format->es->video.crop.width = m_imageWidth;
+		format->es->video.crop.height = m_imageHeight;
+		format->es->video.frame_rate.num = m_frameRate;
 		format->es->video.frame_rate.den = FULL_RES_VIDEO_FRAME_RATE_DEN;
 
 		status = mmal_port_format_commit(video_port);
@@ -689,35 +335,12 @@ void MmalVideoCamera::createCameraComponent()
 			video_port->buffer_num = VIDEO_OUTPUT_BUFFERS_NUM;
 		}
 
-		// Use the video format for images as well
-		format = still_port->format;
-
-		// Set our stills format on the stills (for encoder) port
-
-
-		format->encoding = MMAL_ENCODING_I420;
-		format->encoding_variant = MMAL_ENCODING_I420;
-
-		format->es->video.width = VCOS_ALIGN_UP(CAMERA_IMAGE_WIDTH, 32);
-		format->es->video.height = VCOS_ALIGN_UP(CAMERA_IMAGE_HEIGHT, 16);
-		format->es->video.crop.x = 0;
-		format->es->video.crop.y = 0;
-		format->es->video.crop.width = CAMERA_IMAGE_WIDTH;
-		format->es->video.crop.height = CAMERA_IMAGE_HEIGHT;
-		format->es->video.frame_rate.num = FULL_RES_VIDEO_FRAME_RATE_NUM;
-		format->es->video.frame_rate.den = FULL_RES_VIDEO_FRAME_RATE_DEN;
-
-		status = mmal_port_format_commit(still_port);
-		if (status != MMAL_SUCCESS)
-		{
-			throw Exception("Failure to setup camera image port");
-		}
-
-		// Verify number of buffers
-		if (still_port->buffer_num < VIDEO_OUTPUT_BUFFERS_NUM)
-		{
-			still_port->buffer_num = VIDEO_OUTPUT_BUFFERS_NUM;
-		}
+		// Flip the image
+		MMAL_PARAMETER_MIRROR_T mirror = {{MMAL_PARAMETER_MIRROR, sizeof(MMAL_PARAMETER_MIRROR_T)}, MMAL_PARAM_MIRROR_NONE};
+		mirror.value = MMAL_PARAM_MIRROR_BOTH;
+		mmal_port_parameter_set(preview_port, &mirror.hdr);
+		mmal_port_parameter_set(video_port, &mirror.hdr);
+		mmal_port_parameter_set(still_port, &mirror.hdr);
 
 		// Enable component
 		status = mmal_component_enable(camera);
@@ -725,6 +348,8 @@ void MmalVideoCamera::createCameraComponent()
 		{
 			throw Exception("camera component couldn't be enabled");
 		}
+
+		std::cout << "Camera Enabled..." << std::endl;
 	}
 	catch (...)
 	{
@@ -737,41 +362,34 @@ void MmalVideoCamera::createCameraComponent()
 	}
 
 	m_camera = camera;
-	m_previewPort = preview_port;
+	//m_previewPort = preview_port;
 	m_videoPort = video_port;
 	m_stillPort = still_port;
 }
-
-void MmalVideoCamera::acquireImage(Image * image)
+void MmalVideoCamera::sendBuffers()
 {
-	// Enable the encoder output port
-	std::cout << "Acquiring image..." << std::endl;
-
 	// Send all the buffers to the encoder output port
-		int num = mmal_queue_length(m_pool->queue);
-
-		for (int q = 0; q < num; q++)
-		{
-			MMAL_BUFFER_HEADER_T *buffer = mmal_queue_get(m_pool->queue);
+	int num = mmal_queue_length(m_pool->queue);
 
-			if (buffer == NULL)
-			{
-				std::cerr << "Unable to get buffer " << q << " from the pool" << std::endl;
-			}
+	for (int q = 0; q < num; q++)
+	{
+		MMAL_BUFFER_HEADER_T *new_buffer = mmal_queue_get(m_pool->queue);
 
-			if (mmal_port_send_buffer(m_targetPort, buffer)!= MMAL_SUCCESS)
-			{
-				std::cerr << "Unable to send a buffer " << q << " to encoder output port " << std::endl;
-			}
+		if (new_buffer == NULL)
+		{
+			std::cerr << "Unable to get buffer " << q << " from the pool" << std::endl;
 		}
 
-		// Start the capture
-		if (mmal_port_parameter_set_boolean(m_videoPort, MMAL_PARAMETER_CAPTURE, 1) == MMAL_SUCCESS)
+		if (mmal_port_send_buffer(m_videoPort, new_buffer)!= MMAL_SUCCESS)
 		{
-
+			std::cerr << "Unable to send a buffer " << q << " to encoder output port " << std::endl;
 		}
+	}
+}
 
-	/*
+void MmalVideoCamera::acquireImage(Image * image)
+{
+	// Enable the encoder output port
 	m_targetPort->userdata = (struct MMAL_PORT_USERDATA_T *) m_callbackData;
 
 	m_callbackData->cs.enter();
@@ -779,60 +397,26 @@ void MmalVideoCamera::acquireImage(Image * image)
 	m_callbackData->pool = m_pool;
 	m_callbackData->bufferSize = image->getPixelBufferSize();
 	m_callbackData->bytesWritten = 0;
+	m_callbackData->acquire = true;
 	m_callbackData->cs.leave();
-	*/
 
-	/* UML
-	unsigned char * dst = image->getPixels();
+	sendBuffers();
 
-	if(MMAL_BUFFER_HEADER_T *buffer = mmal_queue_get(m_outputQueue))
+	bool waiting = true;
+	while (waiting)
 	{
-		//lock it
-		mmal_buffer_header_mem_lock(buffer);
-
-		// memcpy(pData->buffer, buffer->data, writeSize);
-
-		// The data is RGBA so we must copy just the RGB bytes
-		int step = 1;
-		for (unsigned i = 0; i < buffer->length; i++)
+		m_callbackData->cs.enter();
+		if (!m_callbackData->acquire)
 		{
-			* dst = buffer->data[i];
-			dst++;
-
-			if (step == 3)
-			{
-				i++;
-				step = 1;
-			}
+			waiting = false;
 		}
-
-		mmal_buffer_header_mem_unlock(buffer);
-		mmal_buffer_header_release(buffer);
-
-		// and send it back to the port (if still open)
-		if (m_targetPort->is_enabled)
+		else
 		{
-			MMAL_STATUS_T status = MMAL_SUCCESS;
-			MMAL_BUFFER_HEADER_T *new_buffer;
-			new_buffer = mmal_queue_get(m_pool->queue);
-			if (new_buffer)
-			{
-				status = mmal_port_send_buffer(m_targetPort, new_buffer);
-			}
-
-			if (!new_buffer || status != MMAL_SUCCESS)
-			{
-				std::cerr << "Unable to return a buffer to the video port\n";
-			}
+			//Thread::usleep(10000);
+			Thread::usleep(10000);
 		}
+		m_callbackData->cs.leave();
 	}
-	else
-	{
-		std::cerr << "!! No buffer available" << std::endl;
-	}
-	*/
-
-	std::cout << "Acquisition done..." << std::endl;
 }
 
 bool MmalVideoCamera::acquireJpeg(byte* buffer, unsigned * size)
@@ -848,8 +432,6 @@ bool MmalVideoCamera::acquireJpeg(byte* buffer, unsigned * size)
 	// Acquire an image
 	acquireImage(&image);
 
-	//memcpy(buffer, image.getPixels(), image.getPixelBufferSize());
-
 	// Convert the image to a JPEG
 	Image::convertToJpeg(image, buffer, size);
 
@@ -858,12 +440,12 @@ bool MmalVideoCamera::acquireJpeg(byte* buffer, unsigned * size)
 
 int MmalVideoCamera::getImageHeight() const
 {
-	return CAMERA_IMAGE_HEIGHT;
+	return m_imageHeight;
 }
 
 int MmalVideoCamera::getImageWidth() const
 {
-	return CAMERA_IMAGE_WIDTH;
+	return m_imageWidth;
 }
 
 int MmalVideoCamera::getImageComponents() const
diff --git a/src/MmalVideoCamera.h b/src/MmalVideoCamera.h
index 6bbc401..26d3677 100644
--- a/src/MmalVideoCamera.h
+++ b/src/MmalVideoCamera.h
@@ -38,7 +38,7 @@ struct Mmal_CallbackData;
 class MmalVideoCamera : public Camera
 {
 public:
-	MmalVideoCamera();
+	MmalVideoCamera(int imageWidth, int imageHeight, int frameRate);
 	~MmalVideoCamera();
 
 	void acquireImage(Image * image);
@@ -63,27 +63,23 @@ class MmalVideoCamera : public Camera
 	real getFocalLength() const;
 
 private:
-	void createPreview();
-	void createResizer();
 	void createCameraComponent();
 	void createBufferPool();
-	void createSplitter();
+	void sendBuffers();
 private:
 
+	int m_imageWidth;
+	int m_imageHeight;
+	int m_frameRate;
+	int m_imagePreviewWidth;
+	int m_imagePreviewHeight;
 	Mmal_CallbackData * m_callbackData;
-
 	CriticalSection m_cs;
 	MMAL_COMPONENT_T * m_camera;
-	MMAL_COMPONENT_T * m_preview;
-	MMAL_COMPONENT_T * m_resizer;
-	MMAL_COMPONENT_T * m_splitter;
 	MMAL_POOL_T * m_pool;
-	MMAL_PORT_T * m_previewPort;
 	MMAL_PORT_T * m_videoPort;
 	MMAL_PORT_T * m_stillPort;
-	MMAL_PORT_T * m_resizerPort;
 	MMAL_PORT_T * m_targetPort;
-	MMAL_PORT_T * m_splitterPort;
 	MMAL_QUEUE_T * m_outputQueue;
 
 	bool m_targetPortEnabled;
diff --git a/src/NeutralFileReader.cpp b/src/NeutralFileReader.cpp
deleted file mode 100644
index 2ddd049..0000000
--- a/src/NeutralFileReader.cpp
+++ /dev/null
@@ -1,160 +0,0 @@
-/*
- ****************************************************************************
- *  Copyright (c) 2014 Uriah Liggett <freelaserscanner@gmail.com>           *
- *	This file is part of FreeLSS.                                           *
- *                                                                          *
- *  FreeLSS is free software: you can redistribute it and/or modify         *
- *  it under the terms of the GNU General Public License as published by    *
- *  the Free Software Foundation, either version 3 of the License, or       *
- *  (at your option) any later version.                                     *
- *                                                                          *
- *  FreeLSS is distributed in the hope that it will be useful,              *
- *  but WITHOUT ANY WARRANTY; without even the implied warranty of          *
- *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the           *
- *  GNU General Public License for more details.                            *
- *                                                                          *
- *   You should have received a copy of the GNU General Public License      *
- *   along with FreeLSS.  If not, see <http://www.gnu.org/licenses/>.       *
- ****************************************************************************
-*/
-
-#include "Main.h"
-#include "NeutralFileReader.h"
-
-
-namespace freelss
-{
-
-const char * NeutralFileReader::SELECT_SQL = "SELECT RED, GREEN, BLUE, X, Y, Z, COLUMN, ROW, ROTATION, STEP FROM RESULTS ORDER BY STEP ASC";
-
-NeutralFileReader::NeutralFileReader() :
-	m_db(NULL),
-	m_stmt(NULL),
-	m_recordReady(false),
-	m_moreResults(false)
-{
-	// Do nothing
-}
-
-
-NeutralFileReader::~NeutralFileReader()
-{
-	close();
-}
-
-void NeutralFileReader::open(const std::string& filename)
-{
-	if (m_db != NULL)
-	{
-		return;
-	}
-
-	if (sqlite3_open(filename.c_str(), &m_db) != 0)
-	{
-		throw Exception(std::string("Could not open sqlite database: ") + filename);
-	}
-}
-
-void NeutralFileReader::close()
-{
-	if (m_stmt != NULL)
-	{
-		sqlite3_finalize(m_stmt);
-		m_stmt = NULL;
-	}
-
-	if (m_db != NULL)
-	{
-		sqlite3_close(m_db);
-		m_db = NULL;
-	}
-}
-
-void NeutralFileReader::start()
-{
-	if (m_stmt != NULL)
-	{
-		sqlite3_finalize(m_stmt);
-		m_stmt = NULL;
-	}
-
-	// Create the prepared statement
-	char * errMsg = 0;
-	int rc = sqlite3_prepare_v2(m_db, NeutralFileReader::SELECT_SQL, -1, &m_stmt, NULL);
-	if (rc != SQLITE_OK)
-	{
-		std::string error = errMsg;
-		sqlite3_free(errMsg);
-		throw Exception("Error calling sqlite3_prepare_v2: " + error);
-	}
-
-	m_recordReady = false;
-	m_moreResults = true;
-}
-
-bool NeutralFileReader::readNextStep(std::vector<NeutralFileRecord>& records)
-{
-	if (m_stmt == NULL)
-	{
-		throw Exception("Prepared statement is NULL");
-	}
-
-	if (!m_moreResults)
-	{
-		return false;
-	}
-
-	// Clear any previous results
-	records.clear();
-
-	int lastStep = -1;
-
-	// Copy the previously read record
-	if (m_recordReady)
-	{
-		records.push_back(m_record);
-		lastStep = m_record.frame;
-		m_recordReady = false;
-	}
-
-	bool firstRow = true;
-	while (true)
-	{
-		if (sqlite3_step(m_stmt) == SQLITE_ROW)
-		{
-			NeutralFileRecord record;
-
-			record.point.r = sqlite3_column_int(m_stmt, 0);
-			record.point.g = sqlite3_column_int(m_stmt, 1);
-			record.point.b = sqlite3_column_int(m_stmt, 2);
-			record.point.x = sqlite3_column_double(m_stmt, 3);
-			record.point.y = sqlite3_column_double(m_stmt, 4);
-			record.point.z = sqlite3_column_double(m_stmt, 5);
-			record.pixel.x = sqlite3_column_double(m_stmt, 6);
-			record.pixel.y = sqlite3_column_double(m_stmt, 7);
-			record.rotation = sqlite3_column_double(m_stmt, 8);
-			record.frame = sqlite3_column_int(m_stmt, 9);
-
-			// Check if we are moving to the next scan frame
-			if (!firstRow && record.frame != lastStep)
-			{
-				m_record = record;
-				m_recordReady = true;
-				lastStep = record.frame;
-				break;
-			}
-
-			firstRow = false;
-			lastStep = record.frame;
-			records.push_back(record);
-		}
-		else
-		{
-			m_moreResults = false;
-		}
-	}
-
-	return m_moreResults;
-}
-
-} // ns sdl
diff --git a/src/NeutralFileReader.h b/src/NeutralFileReader.h
deleted file mode 100644
index aaa481a..0000000
--- a/src/NeutralFileReader.h
+++ /dev/null
@@ -1,60 +0,0 @@
-/*
- ****************************************************************************
- *  Copyright (c) 2014 Uriah Liggett <freelaserscanner@gmail.com>           *
- *	This file is part of FreeLSS.                                           *
- *                                                                          *
- *  FreeLSS is free software: you can redistribute it and/or modify         *
- *  it under the terms of the GNU General Public License as published by    *
- *  the Free Software Foundation, either version 3 of the License, or       *
- *  (at your option) any later version.                                     *
- *                                                                          *
- *  FreeLSS is distributed in the hope that it will be useful,              *
- *  but WITHOUT ANY WARRANTY; without even the implied warranty of          *
- *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the           *
- *  GNU General Public License for more details.                            *
- *                                                                          *
- *   You should have received a copy of the GNU General Public License      *
- *   along with FreeLSS.  If not, see <http://www.gnu.org/licenses/>.       *
- ****************************************************************************
-*/
-
-#pragma once
-
-namespace freelss
-{
-
-class NeutralFileReader
-{
-public:
-	NeutralFileReader();
-	~NeutralFileReader();
-
-	void open(const std::string& filename);
-	void close();
-	void start();
-	bool readNextStep(std::vector<NeutralFileRecord>& records);
-
-private:
-
-	void prepareStatement();
-
-	/** The SQL for creating the database */
-	static const char * SELECT_SQL;
-
-	/** The Sqlite database */
-	sqlite3 * m_db;
-
-	/** The prepared statement */
-	sqlite3_stmt * m_stmt;
-
-	/** Temp record */
-	NeutralFileRecord m_record;
-
-	/** Indicates if we should use the tmp record or not */
-	bool m_recordReady;
-
-	/** Indicates if there are more rows to be read */
-	bool m_moreResults;
-};
-
-}
diff --git a/src/NeutralFileWriter.cpp b/src/NeutralFileWriter.cpp
deleted file mode 100644
index 26c7284..0000000
--- a/src/NeutralFileWriter.cpp
+++ /dev/null
@@ -1,185 +0,0 @@
-/*
- ****************************************************************************
- *  Copyright (c) 2014 Uriah Liggett <freelaserscanner@gmail.com>           *
- *	This file is part of FreeLSS.                                           *
- *                                                                          *
- *  FreeLSS is free software: you can redistribute it and/or modify         *
- *  it under the terms of the GNU General Public License as published by    *
- *  the Free Software Foundation, either version 3 of the License, or       *
- *  (at your option) any later version.                                     *
- *                                                                          *
- *  FreeLSS is distributed in the hope that it will be useful,              *
- *  but WITHOUT ANY WARRANTY; without even the implied warranty of          *
- *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the           *
- *  GNU General Public License for more details.                            *
- *                                                                          *
- *   You should have received a copy of the GNU General Public License      *
- *   along with FreeLSS.  If not, see <http://www.gnu.org/licenses/>.       *
- ****************************************************************************
-*/
-#include "Main.h"
-#include "NeutralFileWriter.h"
-
-namespace freelss
-{
-
-const char * NeutralFileWriter::CREATE_DATABASE_SQL = "\
-CREATE TABLE RESULTS (RED INTEGER, GREEN INTEGER, BLUE INTEGER, X REAL, Y REAL, Z REAL, COLUMN REAL, ROW REAL, ROTATION REAL, STEP INTEGER);\n";
-
-NeutralFileWriter::NeutralFileWriter() :
-	m_db(NULL),
-	m_stmt(NULL)
-{
-	// Do nothing
-}
-
-NeutralFileWriter::~NeutralFileWriter()
-{
-	close();
-}
-
-void NeutralFileWriter::open(const std::string& filename)
-{
-	if (m_db != NULL)
-	{
-		return;
-	}
-
-	// If the file exists, delete it
-	if (access(filename.c_str(), F_OK) == 0)
-	{
-		if (remove(filename.c_str()) == -1)
-		{
-			throw Exception("Error removing file: " + filename);
-		}
-	}
-
-	if (sqlite3_open(filename.c_str(), &m_db) != 0)
-	{
-		throw Exception(std::string("Could not open sqlite database: ") + filename);
-	}
-
-	char * errMsg = 0;
-	int rc = sqlite3_exec(m_db, NeutralFileWriter::CREATE_DATABASE_SQL, NULL, NULL, &errMsg);
-	if (rc != SQLITE_OK)
-	{
-		std::string error = errMsg;
-		sqlite3_free(errMsg);
-		throw Exception("SQL Error: " + error);
-	}
-
-	// Disable wait on write
-	errMsg = 0;
-	rc = sqlite3_exec(m_db, "PRAGMA synchronous = OFF", NULL, NULL, &errMsg);
-	if (rc != SQLITE_OK)
-	{
-		std::string error = errMsg;
-		sqlite3_free(errMsg);
-		throw Exception("Error setting synchronous mode: " + error);
-	}
-
-	// In-memory journal only
-	errMsg = 0;
-	rc = sqlite3_exec(m_db, "PRAGMA journal_mode = MEMORY", NULL, NULL, &errMsg);
-	if (rc != SQLITE_OK)
-	{
-		std::string error = errMsg;
-		sqlite3_free(errMsg);
-		throw Exception("Error setting journal_mode: " + error);
-	}
-}
-
-void NeutralFileWriter::close()
-{
-	if (m_stmt != NULL)
-	{
-		sqlite3_finalize(m_stmt);
-		m_stmt = NULL;
-	}
-
-	if (m_db != NULL)
-	{
-		sqlite3_close(m_db);
-		m_db = NULL;
-	}
-}
-
-void NeutralFileWriter::write(const NeutralFileRecord& record)
-{
-	if (m_db == NULL)
-	{
-		throw Exception("The database is not open");
-	}
-
-	sqlite3_bind_int(m_stmt, 1, (int)record.point.r);
-	sqlite3_bind_int(m_stmt, 2, (int)record.point.g);
-	sqlite3_bind_int(m_stmt, 3, (int)record.point.b);
-	sqlite3_bind_double(m_stmt, 4, record.point.x);
-	sqlite3_bind_double(m_stmt, 5, record.point.y);
-	sqlite3_bind_double(m_stmt, 6, record.point.z);
-	sqlite3_bind_double(m_stmt, 7, record.pixel.x);
-	sqlite3_bind_double(m_stmt, 8, record.pixel.y);
-	sqlite3_bind_double(m_stmt, 9, record.rotation);
-	sqlite3_bind_int(m_stmt, 10, record.frame);
-
-	sqlite3_step(m_stmt);
-	sqlite3_clear_bindings(m_stmt);
-	sqlite3_reset(m_stmt);
-}
-
-void NeutralFileWriter::beginBatch()
-{
-	// Create the prepared statement
-	prepareStatement();
-
-	char * errMsg = 0;
-	int rc = sqlite3_exec(m_db, "BEGIN TRANSACTION", NULL, NULL, &errMsg);
-	if(rc != SQLITE_OK)
-	{
-		std::string error = errMsg;
-		sqlite3_free(errMsg);
-		throw Exception(std::string("Error beginning transaction: ") + error);
-	}
-}
-
-void NeutralFileWriter::prepareStatement()
-{
-	if (m_stmt != NULL)
-	{
-		sqlite3_finalize(m_stmt);
-		m_stmt = NULL;
-	}
-
-	// Create the prepared statement
-	char * errMsg = 0;
-	const char * sql = "INSERT INTO RESULTS (RED, GREEN, BLUE, X, Y, Z, COLUMN, ROW, ROTATION, STEP) VALUES (?, ?, ?, ?, ?, ?, ?, ?, ?, ?);";
-	int rc = sqlite3_prepare_v2(m_db, sql, -1, &m_stmt, NULL);
-	if (rc != SQLITE_OK)
-	{
-		std::string error = errMsg;
-		sqlite3_free(errMsg);
-		throw Exception(std::string("Error calling sqlite3_prepare_v2: ") + error);
-	}
-}
-
-void NeutralFileWriter::commit()
-{
-	if (m_stmt == NULL)
-	{
-		return;
-	}
-
-	char * errMsg = 0;
-	int rc = sqlite3_exec(m_db, "END TRANSACTION", NULL, NULL, &errMsg);
-	if(rc != SQLITE_OK)
-	{
-		std::string error = errMsg;
-		sqlite3_free(errMsg);
-		throw Exception(std::string("Error committing transaction: ") + error);
-	}
-
-	sqlite3_finalize(m_stmt);
-	m_stmt = NULL;
-}
-
-}
diff --git a/src/PlyWriter.cpp b/src/PlyWriter.cpp
index 5037a50..8a9d4e2 100644
--- a/src/PlyWriter.cpp
+++ b/src/PlyWriter.cpp
@@ -29,6 +29,7 @@ namespace freelss
 PlyWriter::PlyWriter() :
 		m_writer(NULL),
 		m_totalNumPoints(0),
+		m_totalNumFaces(0),
 		m_numPointsWritten(0),
 		m_dataFormat(PLY_BINARY)
 {
@@ -40,6 +41,11 @@ void PlyWriter::setTotalNumPoints(int totalNumPoints)
 	m_totalNumPoints = totalNumPoints;
 }
 
+void PlyWriter::setTotalNumFacesFromFaceMap(const FaceMap& faces)
+{
+	m_totalNumFaces = faces.triangles.size() / 3;
+}
+
 void PlyWriter::setDataFormat(PlyDataFormat dataRepresentation)
 {
 	m_dataFormat = dataRepresentation;
@@ -80,7 +86,7 @@ void PlyWriter::begin(IWriter * writer)
 	sstr << "property uchar red" << std::endl;
 	sstr << "property uchar green" << std::endl;
 	sstr << "property uchar blue" << std::endl;
-	sstr << "element face 0" << std::endl;
+	sstr << "element face " << m_totalNumFaces << std::endl;
 	sstr << "property list uchar int vertex_indices" << std::endl;
 	sstr << "end_header" << std::endl;
 
@@ -88,6 +94,54 @@ void PlyWriter::begin(IWriter * writer)
 	m_writer->write(header.c_str(), header.size());
 }
 
+void PlyWriter::writeFaces(const FaceMap& faces)
+{
+	if (m_dataFormat == PLY_ASCII)
+	{
+		writeAsciiFaces(faces);
+	}
+	else if (m_dataFormat == PLY_BINARY)
+	{
+		writeBinaryFaces(faces);
+	}
+	else
+	{
+		throw Exception("Unsupported PLY data format");
+	}
+}
+
+void PlyWriter::writeAsciiFaces(const FaceMap& faces)
+{
+	const std::vector<unsigned>& triangles = faces.triangles;
+
+	for (size_t idx = 0; idx < triangles.size(); idx += 3)
+	{
+		std::stringstream sstr;
+		sstr << "3 " << triangles[idx] << " " << triangles[idx + 1] << " " << triangles[idx + 2] << std::endl;
+
+		std::string data = sstr.str();
+		m_writer->write(data.c_str(), data.size());
+	}
+}
+
+void PlyWriter::writeBinaryFaces(const FaceMap& faces)
+{
+	const std::vector<unsigned>& triangles = faces.triangles;
+
+	for (size_t idx = 0; idx < triangles.size(); idx += 3)
+	{
+		uint8 numVert = 3;
+		uint32 v1 = triangles[idx];
+		uint32 v2 = triangles[idx + 1];
+		uint32 v3 = triangles[idx + 2];
+
+		m_writer->write((const char *)&numVert, sizeof(numVert));
+		m_writer->write((const char *)&v1, sizeof(v1));
+		m_writer->write((const char *)&v2, sizeof(v2));
+		m_writer->write((const char *)&v3, sizeof(v3));
+	}
+}
+
 void PlyWriter::writePoints(ColoredPoint * points, int numPoints)
 {
 	// Check the number of points
diff --git a/src/PlyWriter.h b/src/PlyWriter.h
index 2a1d489..ebb6d46 100644
--- a/src/PlyWriter.h
+++ b/src/PlyWriter.h
@@ -34,15 +34,21 @@ class PlyWriter
 
 	void setDataFormat(PlyDataFormat dataRepresentation);
 	void setTotalNumPoints(int totalNumPoints);
+	void setTotalNumFacesFromFaceMap(const FaceMap& faces);
 	void begin(IWriter * writer);
 	void writePoints(ColoredPoint * points, int numPoints);
+	void writeFaces(const FaceMap& faces);
 	void end();
 private:
 
 	void writeAsciiPoints(ColoredPoint * points, int numPoints);
 	void writeBinaryPoints(ColoredPoint * points, int numPoints);
+	void writeAsciiFaces(const FaceMap& faces);
+	void writeBinaryFaces(const FaceMap& faces);
+
 	IWriter * m_writer;
 	int m_totalNumPoints;
+	int m_totalNumFaces;
 	int m_numPointsWritten;
 	PlyDataFormat m_dataFormat;
 };
diff --git a/src/Preset.cpp b/src/Preset.cpp
index ede346c..e59703d 100644
--- a/src/Preset.cpp
+++ b/src/Preset.cpp
@@ -81,85 +81,88 @@ void Preset::decodeProperties(const std::vector<Property>& properties, const std
 	isActivePreset = false;
 
 	this->name = name;
+	if (name.empty())
+	{
+		return;
+	}
+
+	const std::string prefix = "presets.";
 
 	for (size_t iProp = 0; iProp < properties.size(); iProp++)
 	{
 		const Property& prop = properties[iProp];
 
-		if (!name.empty())
+		if (prop.name == prefix + name + ".laserSide")
 		{
-			if (EndsWith(prop.name, name + ".laserSide"))
-			{
-				laserSide = (Laser::LaserSide) ToInt(prop.value);
-			}
-			else if (EndsWith(prop.name, name + ".cameraMode"))
-			{
-				cameraMode = (Camera::CameraMode) ToInt(prop.value);
-			}
-			else if (EndsWith(prop.name, name + ".laserThreshold"))
-			{
-				laserThreshold = ToReal(prop.value);
-			}
-			else if (EndsWith(prop.name, name + ".minLaserWidth"))
-			{
-				minLaserWidth = ToInt(prop.value);
-			}
-			else if (EndsWith(prop.name, name + ".maxLaserWidth"))
-			{
-				maxLaserWidth = ToInt(prop.value);
-			}
-			else if (EndsWith(prop.name, name + ".maxObjectSize"))
-			{
-				maxObjectSize = ToReal(prop.value);
-			}
-			else if (EndsWith(prop.name, name + ".maxTriangleEdgeLength"))
-			{
-				maxTriangleEdgeLength = ToReal(prop.value);
-			}
-			else if (EndsWith(prop.name, name + ".numLaserRowBins"))
-			{
-				numLaserRowBins = ToInt(prop.value);
-			}
-			else if (EndsWith(prop.name, name + ".laserDelay"))
-			{
-				laserDelay = ToInt(prop.value);
-			}
-			else if (EndsWith(prop.name, name + ".stabilityDelay"))
-			{
-				stabilityDelay = ToInt(prop.value);
-			}
-			else if (EndsWith(prop.name, name + ".active"))
-			{
-				isActivePreset = ToInt(prop.value) == 1;
-			}
-			else if (EndsWith(prop.name, name + ".framesPerRevolution"))
-			{
-				framesPerRevolution = ToInt(prop.value);
-			}
-			else if (EndsWith(prop.name, name + ".generateXyz"))
-			{
-				generateXyz = ToBool(prop.value);
-			}
-			else if (EndsWith(prop.name, name + ".generateStl"))
-			{
-				generateStl = ToBool(prop.value);
-			}
-			else if (EndsWith(prop.name, name + ".generatePly"))
-			{
-				generatePly = ToBool(prop.value);
-			}
-			else if (EndsWith(prop.name, name + ".groundPlaneHeight"))
-			{
-				groundPlaneHeight = ToReal(prop.value);
-			}
-			else if (EndsWith(prop.name, name + ".laserMergeAction"))
-			{
-				laserMergeAction = (LaserMergeAction) ToInt(prop.value);
-			}
-			else if (EndsWith(prop.name, name + ".plyDataFormat"))
-			{
-				plyDataFormat = (PlyDataFormat) ToInt(prop.value);
-			}
+			laserSide = (Laser::LaserSide) ToInt(prop.value);
+		}
+		else if (prop.name == prefix + name + ".cameraMode")
+		{
+			cameraMode = (Camera::CameraMode) ToInt(prop.value);
+		}
+		else if (prop.name == prefix + name +  ".laserThreshold")
+		{
+			laserThreshold = ToReal(prop.value);
+		}
+		else if (prop.name == prefix + name +  ".minLaserWidth")
+		{
+			minLaserWidth = ToInt(prop.value);
+		}
+		else if (prop.name == prefix + name +  ".maxLaserWidth")
+		{
+			maxLaserWidth = ToInt(prop.value);
+		}
+		else if (prop.name == prefix + name + ".maxObjectSize")
+		{
+			maxObjectSize = ToReal(prop.value);
+		}
+		else if (prop.name == prefix + name + ".maxTriangleEdgeLength")
+		{
+			maxTriangleEdgeLength = ToReal(prop.value);
+		}
+		else if (prop.name == prefix + name + ".numLaserRowBins")
+		{
+			numLaserRowBins = ToInt(prop.value);
+		}
+		else if (prop.name == prefix + name + ".laserDelay")
+		{
+			laserDelay = ToInt(prop.value);
+		}
+		else if (prop.name == prefix + name + ".stabilityDelay")
+		{
+			stabilityDelay = ToInt(prop.value);
+		}
+		else if (prop.name == prefix + name + ".active")
+		{
+			isActivePreset = ToInt(prop.value) == 1;
+		}
+		else if (prop.name == prefix + name + ".framesPerRevolution")
+		{
+			framesPerRevolution = ToInt(prop.value);
+		}
+		else if (prop.name == prefix + name + ".generateXyz")
+		{
+			generateXyz = ToBool(prop.value);
+		}
+		else if (prop.name == prefix + name + ".generateStl")
+		{
+			generateStl = ToBool(prop.value);
+		}
+		else if (prop.name == prefix + name + ".generatePly")
+		{
+			generatePly = ToBool(prop.value);
+		}
+		else if (prop.name == prefix + name + ".groundPlaneHeight")
+		{
+			groundPlaneHeight = ToReal(prop.value);
+		}
+		else if (prop.name == prefix + name + ".laserMergeAction")
+		{
+			laserMergeAction = (LaserMergeAction) ToInt(prop.value);
+		}
+		else if (prop.name == prefix + name + ".plyDataFormat")
+		{
+			plyDataFormat = (PlyDataFormat) ToInt(prop.value);
 		}
 	}
 }
diff --git a/src/Progress.cpp b/src/Progress.cpp
index d6b4e84..0d7203a 100644
--- a/src/Progress.cpp
+++ b/src/Progress.cpp
@@ -66,6 +66,7 @@ void Progress::setPercent(real percent)
 void Progress::setLabel(const std::string& label)
 {
 	m_cs.enter();
+	std::cout << label << "..." << std::endl;
 	m_label = label;
 	m_cs.leave();
 }
diff --git a/src/Scanner.cpp b/src/Scanner.cpp
index 20bafb5..1896137 100644
--- a/src/Scanner.cpp
+++ b/src/Scanner.cpp
@@ -27,11 +27,11 @@
 #include "Laser.h"
 #include "Camera.h"
 #include "PixelLocationWriter.h"
-#include "NeutralFileReader.h"
 #include "StlWriter.h"
 #include "XyzWriter.h"
 #include "LaserResultsMerger.h"
 #include "FileWriter.h"
+#include "Facetizer.h"
 
 namespace freelss
 {
@@ -45,7 +45,7 @@ static bool CompareScanResultFiles(const ScanResultFile& a, const ScanResultFile
 	return a.extension > b.extension;
 }
 
-static bool ComparePseudoSteps(const NeutralFileRecord& a, const NeutralFileRecord& b)
+static bool ComparePseudoSteps(const DataPoint& a, const DataPoint& b)
 {
 	if (a.pseudoFrame != b.pseudoFrame)
 	{
@@ -66,13 +66,14 @@ Scanner::Scanner() :
 	m_progress(),
 	m_status(),
 	m_maxNumFrameRetries(5),                    // TODO: Place this in Database
-	m_maxPercentPixelsOverThreshold(3),           // TODO: Place this in Database
+	m_maxNumFailedRows(10),                      // TODO: Place this in Database
 	m_columnPoints(NULL),
 	m_startTimeSec(0),
 	m_remainingTime(0),
 	m_firstRowRightLaserCol(0),
 	m_firstRowLeftLaserCol(0),
 	m_maxNumLocations(0),
+	m_maxFramesPerRevolution(0),
 	m_radiansBetweenLaserPlanes(0),
 	m_radiansPerFrame(0),
 	m_rightLaserLoc(),
@@ -279,22 +280,26 @@ void Scanner::run()
 
 	int numFrames = 0;
 
-	int maxFramesPerRevolution = preset.framesPerRevolution;
-	if (maxFramesPerRevolution < 1)
+	m_maxFramesPerRevolution = preset.framesPerRevolution;
+	if (m_maxFramesPerRevolution < 1)
 	{
-		maxFramesPerRevolution = 1;
+		m_maxFramesPerRevolution = 1;
 	}
 
 	int stepsPerRevolution = Setup::get()->stepsPerRevolution;
-	if (maxFramesPerRevolution > stepsPerRevolution)
+	if (m_maxFramesPerRevolution > stepsPerRevolution)
 	{
-		maxFramesPerRevolution = stepsPerRevolution;
+		m_maxFramesPerRevolution = stepsPerRevolution;
 	}
 
 	try
 	{
 		// Enable the turn table motor
 		m_turnTable->setMotorEnabled(true);
+
+		// Wait a second in case the object shakes
+		Thread::usleep(1000000);
+
 		std::cout << "Enabled motor" << std::endl;
 
 		if (m_laser == NULL)
@@ -315,7 +320,7 @@ void Scanner::run()
 		float rangeRadians =  (m_range / 360) * (2 * PI);
 
 		// The number of steps for a single frame
-		int stepsPerFrame = ceil(stepsPerRevolution / (float)maxFramesPerRevolution);
+		int stepsPerFrame = ceil(stepsPerRevolution / (float)m_maxFramesPerRevolution);
 		if (stepsPerFrame < 1)
 		{
 			stepsPerFrame = 1;
@@ -393,11 +398,11 @@ void Scanner::run()
 	time1 = GetTimeInSeconds();
 
 	// Merge the left and right lasers and sort the results
-	std::vector<NeutralFileRecord> results;
+	std::vector<DataPoint> results;
 	LaserResultsMerger merger;
 
 	m_results.enter();
-	merger.merge(results, m_leftLaserResults, m_rightLaserResults, maxFramesPerRevolution,
+	merger.merge(results, m_leftLaserResults, m_rightLaserResults, m_maxFramesPerRevolution,
 			     m_numFramesBetweenLaserPlanes, Camera::getInstance()->getImageHeight(), preset.laserMergeAction, m_progress);
 	m_results.leave();
 
@@ -419,6 +424,18 @@ void Scanner::run()
 
 	timingStats.laserMergeTime += GetTimeInSeconds() - time1;
 
+	// Mesh the point cloud
+	FaceMap faces;
+	if (preset.generatePly || preset.generateStl)
+	{
+		Facetizer facetizer;
+
+		time1 = GetTimeInSeconds();
+		m_progress.setLabel("Facetizing Point Cloud");
+		facetizer.facetize(faces, results, m_range > 359, m_progress, true);
+		timingStats.facetizationTime += GetTimeInSeconds() - time1;
+	}
+
 	// Write the PLY file
 	std::cout << "Starting output thread..." << std::endl;
 	if (preset.generatePly)
@@ -441,6 +458,7 @@ void Scanner::run()
 		PlyWriter plyWriter;
 		plyWriter.setDataFormat(preset.plyDataFormat);
 		plyWriter.setTotalNumPoints((int)results.size());
+		plyWriter.setTotalNumFacesFromFaceMap(faces);
 		plyWriter.begin(&plyOut);
 
 		real percent = 0;
@@ -456,9 +474,10 @@ void Scanner::run()
 			plyWriter.writePoints(&results[iRec].point, 1);
 		}
 
+		plyWriter.writeFaces(faces);
 		plyWriter.end();
 		plyOut.close();
-		timingStats.pointCloudWritingTime += GetTimeInSeconds() - time1;
+		timingStats.plyWritingTime += GetTimeInSeconds() - time1;
 	}
 
 	// Generate the XYZ file
@@ -468,7 +487,7 @@ void Scanner::run()
 		time1 = GetTimeInSeconds();
 		XyzWriter xyzWriter;
 		xyzWriter.write(m_filename, results, m_progress);
-		timingStats.pointCloudWritingTime += GetTimeInSeconds() - time1;
+		timingStats.xyzWritingTime += GetTimeInSeconds() - time1;
 	}
 
 	// Generate the STL file
@@ -477,8 +496,8 @@ void Scanner::run()
 		std::cout << "Generating STL mesh..." << std::endl;
 		time1 = GetTimeInSeconds();
 		StlWriter stlWriter;
-		stlWriter.write(m_filename, results, m_range > 359, m_progress);
-		timingStats.meshWritingTime = GetTimeInSeconds() - time1;
+		stlWriter.write(m_filename, results, faces, m_progress);
+		timingStats.stlWritingTime = GetTimeInSeconds() - time1;
 	}
 
 	logTimingStats(timingStats);
@@ -494,37 +513,100 @@ void Scanner::run()
 
 void Scanner::generateDebugInfo(Laser::LaserSide laserSide)
 {
+	Setup * setup = Setup::get();
+
 	// Prepare for scanning
 	prepareScan();
 
+	std::string debuggingCsv = std::string(DEBUG_OUTPUT_DIR) + "/0.csv";
+
 	m_laser->turnOff(Laser::ALL_LASERS);
 	acquireImage(&m_image1);
 
-	m_laser->turnOn(laserSide);
-	acquireImage(&m_image2);
+	Image leftDebuggingImage;
+	std::vector<PixelLocation> leftLocations (m_maxNumLocations);
+	int numLeftLocations = 0;
 
-	m_laser->turnOff(laserSide);
-
-	Image debuggingImage;
+	if (laserSide == Laser::LEFT_LASER  || laserSide == Laser::ALL_LASERS)
+	{
+		m_laser->turnOn(Laser::LEFT_LASER);
+		acquireImage(&m_image2);
+
+		m_laser->turnOff(Laser::LEFT_LASER);
+
+		int firstRowLaserCol = m_camera->getImageWidth() * 0.5;
+		int numRowsBadFromColor = 0;
+		int numRowsBadFromNumRanges = 0;
+
+		numLeftLocations = m_imageProcessor.process(m_image1,
+													m_image2,
+													&leftDebuggingImage,
+													&leftLocations.front(),
+													m_maxNumLocations,
+													firstRowLaserCol,
+													numRowsBadFromColor,
+													numRowsBadFromNumRanges,
+													debuggingCsv.c_str());
+
+		// If we had major problems with this frame, try it again
+		std::cout << "numRowsBadFromColor: " << numRowsBadFromColor << std::endl;
+		std::cout << "numRowsBadFromNumRanges: " << numRowsBadFromNumRanges << std::endl;
+
+		// Map the points so that points below the ground plane and outside the max object size are omitted
+		int numLocationsMapped = 0;
+		LocationMapper locMapper(setup->leftLaserLocation, setup->cameraLocation);
+		locMapper.mapPoints(&leftLocations.front(), &m_image1, m_columnPoints, numLeftLocations, numLocationsMapped);
+		numLeftLocations = numLocationsMapped;
+	}
 
-	std::string debuggingCsv = std::string(DEBUG_OUTPUT_DIR) + "/0.csv";
+	Image rightDebuggingImage;
+	std::vector<PixelLocation> rightLocations(m_maxNumLocations);
+	int numRightLocations = 0;
+	if (laserSide == Laser::RIGHT_LASER  || laserSide == Laser::ALL_LASERS)
+	{
+		m_laser->turnOn(Laser::RIGHT_LASER);
+		acquireImage(&m_image2);
+
+		m_laser->turnOff(Laser::RIGHT_LASER);
+
+		int firstRowLaserCol = m_camera->getImageWidth() * 0.5;
+		int numRowsBadFromColor = 0;
+		int numRowsBadFromNumRanges = 0;
+
+		numRightLocations = m_imageProcessor.process(m_image1,
+													 m_image2,
+													 &rightDebuggingImage,
+													 &rightLocations.front(),
+													 m_maxNumLocations,
+													 firstRowLaserCol,
+													 numRowsBadFromColor,
+													 numRowsBadFromNumRanges,
+													 debuggingCsv.c_str());
+
+		// If we had major problems with this frame, try it again
+		std::cout << "numRowsBadFromColor: " << numRowsBadFromColor << std::endl;
+		std::cout << "numRowsBadFromNumRanges: " << numRowsBadFromNumRanges << std::endl;
+
+
+		// Map the points so that points below the ground plane and outside the max object size are omitted
+		int numLocationsMapped = 0;
+		LocationMapper locMapper(setup->rightLaserLocation, setup->cameraLocation);
+		locMapper.mapPoints(&rightLocations.front(), &m_image1, m_columnPoints, numRightLocations, numLocationsMapped);
+		numRightLocations = numLocationsMapped;
+	}
 
-	int firstRowLaserCol = m_camera->getImageWidth() * 0.5;
-	real percentPixelsOverThreshold = 0;
-	int numLocations = m_imageProcessor.process(m_image1,
-											    m_image2,
-												&debuggingImage,
-												m_laserLocations,
-												m_maxNumLocations,
-												firstRowLaserCol,
-												percentPixelsOverThreshold,
-												debuggingCsv.c_str());
+	//
+	// Merge the two debugging images
+	//
+	Image debuggingImage;
+	mergeDebuggingImages(debuggingImage, leftDebuggingImage, rightDebuggingImage, laserSide);
 
 	std::string baseFilename = std::string(DEBUG_OUTPUT_DIR) + "/";
 
 	// Overlay the pixels onto the debug image and write that as a new image
 	PixelLocationWriter locWriter;
-	Image::overlayPixels(debuggingImage, m_laserLocations, numLocations);
+	Image::overlayPixels(debuggingImage, &rightLocations.front(), numRightLocations);
+	Image::overlayPixels(debuggingImage, &leftLocations.front(), numLeftLocations);
 	locWriter.writeImage(debuggingImage, debuggingImage.getWidth(), debuggingImage.getHeight(), baseFilename + "5.png");
 
 	m_progress.setPercent(100);
@@ -535,6 +617,61 @@ void Scanner::generateDebugInfo(Laser::LaserSide laserSide)
 	std::cout << "Done." << std::endl;
 }
 
+void Scanner::mergeDebuggingImages(Image& outImage, const Image& leftDebuggingImage, const Image& rightDebuggingImage, Laser::LaserSide laserSide)
+{
+
+	if (laserSide == Laser::RIGHT_LASER)
+	{
+		memcpy(outImage.getPixels(), rightDebuggingImage.getPixels(), outImage.getPixelBufferSize());
+	}
+	else if (laserSide == Laser::LEFT_LASER)
+	{
+		memcpy(outImage.getPixels(), leftDebuggingImage.getPixels(), outImage.getPixelBufferSize());
+	}
+	else if (laserSide == Laser::ALL_LASERS)
+	{
+		//
+		// Merge the two images with a MAX operator
+		//
+		unsigned char * left = leftDebuggingImage.getPixels();
+		unsigned char * right = rightDebuggingImage.getPixels();
+		unsigned numPixels = leftDebuggingImage.getWidth() * leftDebuggingImage.getHeight();
+		unsigned char * out = outImage.getPixels();
+		for (unsigned iPx = 0; iPx < numPixels; iPx++)
+		{
+			int lr = (int) left[0];
+			int lg = (int) left[1];
+			int lb = (int) left[2];
+			int leftMagSq = lr * lr + lg * lg + lb * lb;
+
+			int rr = (int) right[0];
+			int rg = (int) right[1];
+			int rb = (int) right[2];
+			int rightMagSq = rr * rr + rg * rg + rb * rb;
+
+			if (leftMagSq > rightMagSq)
+			{
+				out[0] = (unsigned char) lr;
+				out[1] = (unsigned char) lg;
+				out[2] = (unsigned char) lb;
+			}
+			else
+			{
+				out[0] = (unsigned char) rr;
+				out[1] = (unsigned char) rg;
+				out[2] = (unsigned char) rb;
+			}
+
+			left += 3;
+			right += 3;
+			out += 3;
+		}
+	}
+	else
+	{
+		throw Exception("Unsupported LaserSide");
+	}
+}
 void Scanner::singleScan(int frame, float rotation, float frameRotation,
 		                 LocationMapper& leftLocMapper, LocationMapper& rightLocMapper, TimingStats * timingStats)
 {
@@ -587,6 +724,9 @@ void Scanner::singleScan(int frame, float rotation, float frameRotation,
 			// If it didn't succeed, take the first image again
 			if (!goodResult)
 			{
+				// Wait some period of time for the cause of the disruption to go away
+				Thread::usleep(1000000);
+
 				// Take a picture with the laser off
 				time1 = GetTimeInSeconds();
 				acquireImage(&m_image1);
@@ -632,10 +772,11 @@ void Scanner::singleScan(int frame, float rotation, float frameRotation,
 	}
 }
 
-bool Scanner::processScan(std::vector<NeutralFileRecord> & results, int frame, float rotation, LocationMapper& locMapper, Laser::LaserSide laserSide, int & firstRowLaserCol, TimingStats * timingStats)
+bool Scanner::processScan(std::vector<DataPoint> & results, int frame, float rotation, LocationMapper& locMapper, Laser::LaserSide laserSide, int & firstRowLaserCol, TimingStats * timingStats)
 {
 	int numLocationsMapped = 0;
-	real percentPixelsOverThreshold = 0;
+	int numRowsBadFromColor = 0;
+	int numRowsBadFromNumRanges = 0;
 
 	// Send the pictures off for processing
 	double time1 = GetTimeInSeconds();
@@ -645,17 +786,22 @@ bool Scanner::processScan(std::vector<NeutralFileRecord> & results, int frame, f
 												m_laserLocations,
 												m_maxNumLocations,
 												firstRowLaserCol,
-												percentPixelsOverThreshold,
+												numRowsBadFromColor,
+												numRowsBadFromNumRanges,
 												NULL);
 
 	timingStats->imageProcessingTime += GetTimeInSeconds() - time1;
 
 	// If we had major problems with this frame, try it again
-	std::cout << "percentPixelsOverThreshold: " << percentPixelsOverThreshold << std::endl;
-	if (percentPixelsOverThreshold > m_maxPercentPixelsOverThreshold)
+	std::cout << "numRowsBadFromColor: " << numRowsBadFromColor << std::endl;
+	std::cout << "numRowsBadFromNumRanges: " << numRowsBadFromNumRanges << std::endl;
+
+	if (numRowsBadFromNumRanges > m_maxNumFailedRows)
 	{
-		std::cout << "!! Many bad laser locations suspected, pctOverThreshold=" << percentPixelsOverThreshold
-				  << ", maxPct=" << m_maxPercentPixelsOverThreshold << ", rescanning..." << std::endl;
+		std::cout << "!! Too many bad laser locations suspected"
+				  << ", numRowsBadFromColor=" << numRowsBadFromColor
+				  << ", numRowsBadFromNumRanges=" << numRowsBadFromNumRanges
+				  << ", rescanning..." << std::endl;
 
 		timingStats->numFrameRetries++;
 
@@ -698,20 +844,28 @@ bool Scanner::processScan(std::vector<NeutralFileRecord> & results, int frame, f
 		// Rotate the points
 		rotatePoints(m_columnPoints, rotation, numLocationsMapped);
 
-		// Write to the neutral file
-		time1 = GetTimeInSeconds();
-		m_results.enter();
+		std::vector<DataPoint>  rawResults;
 		for (int iLoc = 0; iLoc < numLocationsMapped; iLoc++)
 		{
-			NeutralFileRecord record;
+			DataPoint record;
 			record.pixel = m_laserLocations[iLoc];
 			record.point = m_columnPoints[iLoc];
 			record.rotation = laserSide == Laser::RIGHT_LASER ? rotation : rotation + m_radiansBetweenLaserPlanes;
 			record.frame = frame;
 			record.laserSide = (int) laserSide;
-			results.push_back(record);
+			rawResults.push_back(record);
 		}
+
+		uint32 maxNumRows = Camera::getInstance()->getImageHeight();
+		uint32 numRowBins = MAX(400, m_maxFramesPerRevolution / 4);
+
+		time1 = GetTimeInSeconds();
+
+		// Reduce the number of result rows and filter out some of the noise
+		m_results.enter();
+		DataPoint::lowpassFilter(results, rawResults, maxNumRows, numRowBins);
 		m_results.leave();
+
 		timingStats->pointProcessingTime += GetTimeInSeconds() - time1;
 	}
 
@@ -800,8 +954,8 @@ void Scanner::logTimingStats(const Scanner::TimingStats& stats)
 	double now = GetTimeInSeconds();
 	double totalTime = now - stats.startTime;
 
-	double accountedTime = stats.meshWritingTime + stats.imageAcquisitionTime + stats.imageProcessingTime + stats.pointMappingTime
-			+ stats.pointProcessingTime + stats.rotationTime + stats.pointCloudWritingTime + stats.laserTime + stats.laserMergeTime;
+	double accountedTime = stats.xyzWritingTime + stats.facetizationTime + stats.stlWritingTime + stats.imageAcquisitionTime + stats.imageProcessingTime + stats.pointMappingTime
+			+ stats.pointProcessingTime + stats.rotationTime + stats.plyWritingTime + stats.laserTime + stats.laserMergeTime;
 
 	double unaccountedTime = totalTime - accountedTime;
 	double rate = totalTime / stats.numFrames;
@@ -815,8 +969,10 @@ void Scanner::logTimingStats(const Scanner::TimingStats& stats)
 	std::cout << "Point Rotating:\t" << (100.0 * stats.pointProcessingTime / totalTime) << "%" << std::endl;
 	std::cout << "Table Rotation:\t" << (100.0 * stats.rotationTime / totalTime) << "%" << std::endl;
 	std::cout << "Laser Merging:\t" << (100.0 * stats.laserMergeTime / totalTime) << "%" << std::endl;
-	std::cout << "Point Cloud Writing:\t" << (100.0 * stats.pointCloudWritingTime / totalTime) << "%" << std::endl;
-	std::cout << "Mesh Writing:\t" << (100.0 * stats.meshWritingTime / totalTime) << "%" << std::endl;
+	std::cout << "PLY Writing:\t" << (100.0 * stats.plyWritingTime / totalTime) << "%" << std::endl;
+	std::cout << "STL Writing:\t" << (100.0 * stats.stlWritingTime / totalTime) << "%" << std::endl;
+	std::cout << "XYZ Writing:\t" << (100.0 * stats.xyzWritingTime / totalTime) << "%" << std::endl;
+	std::cout << "Facetization:\t" << (100.0 * stats.facetizationTime / totalTime) << "%" << std::endl;
 	std::cout << "Num Frame Retries:\t" << stats.numFrameRetries << std::endl;
 	std::cout << "Num Frames:\t" << stats.numFrames << std::endl;
 	std::cout << "Total Time (min):\t" << (totalTime / 60.0) << std::endl << std::endl;
diff --git a/src/Scanner.h b/src/Scanner.h
index 02e3d89..e7b37c6 100644
--- a/src/Scanner.h
+++ b/src/Scanner.h
@@ -82,8 +82,8 @@ class Scanner : public Thread
 	/** The live data from the scanner */
 	struct LiveData
 	{
-		std::vector<NeutralFileRecord> * leftLaserResults;
-		std::vector<NeutralFileRecord> * rightLaserResults;
+		std::vector<DataPoint> * leftLaserResults;
+		std::vector<DataPoint> * rightLaserResults;
 	};
 
 	/** Returns the data being scanned and locks all other access to it */
@@ -101,8 +101,10 @@ class Scanner : public Thread
 		double rotationTime;
 		double startTime;
 		double pointProcessingTime;
-		double pointCloudWritingTime;
-		double meshWritingTime;
+		double plyWritingTime;
+		double stlWritingTime;
+		double xyzWritingTime;
+		double facetizationTime;
 		double laserTime;
 		double laserMergeTime;
 		int numFrameRetries;
@@ -123,16 +125,11 @@ class Scanner : public Thread
 	/**
 	 * Returns true if the scan was processed successfully and false if there was a problem and the frame needs to be again.
 	 */
-	bool processScan(std::vector<NeutralFileRecord> & results, int frame, float rotation, LocationMapper& locMapper, Laser::LaserSide laserSide, int & firstRowLaserCol, TimingStats * timingStats);
+	bool processScan(std::vector<DataPoint> & results, int frame, float rotation, LocationMapper& locMapper, Laser::LaserSide laserSide, int & firstRowLaserCol, TimingStats * timingStats);
 
 	void writeRangePoints(ColoredPoint * points, int numLocationsMapped,Laser::LaserSide laserSide);
 
-private:
-	/** Unowned objects */
-	Laser * m_laser;
-	Camera * m_camera;
-	TurnTable * m_turnTable;
-private:
+	void mergeDebuggingImages(Image& outImage, const Image& leftDebuggingImage, const Image& rightDebuggingImage, Laser::LaserSide laserSide);
 
 	/**
 	 *  Prepares the object for scanning.
@@ -143,6 +140,13 @@ class Scanner : public Thread
 	 * Acquires an image from the camera.
 	 */
 	void acquireImage(Image * image);
+private:
+	/** Unowned objects */
+	Laser * m_laser;
+	Camera * m_camera;
+	TurnTable * m_turnTable;
+
+private:
 
 	/** Array of laser locations */
 	PixelLocation * m_laserLocations;
@@ -173,8 +177,8 @@ class Scanner : public Thread
 	/** The maximum number of times to try a frame (at a particular rotation) before giving up */
 	const int m_maxNumFrameRetries;
 
-	/** The threshold for percentage of pixels over the threshold */
-	const real m_maxPercentPixelsOverThreshold;
+	/** The maximum number of failed laser detection rows before */
+	const real m_maxNumFailedRows;
 
 	/** The image points for every column */
 	ColoredPoint * m_columnPoints;
@@ -194,6 +198,9 @@ class Scanner : public Thread
 	/** Max number of pixel locations */
 	unsigned m_maxNumLocations;
 
+	/** The max number of frames per revolution */
+	int m_maxFramesPerRevolution;
+
 	/** The angle between the left and right laser planes */
 	real m_radiansBetweenLaserPlanes;
 
@@ -225,10 +232,10 @@ class Scanner : public Thread
 	Scanner::Task m_task;
 
 	/** Left laser results */
-	std::vector<NeutralFileRecord> m_leftLaserResults;
+	std::vector<DataPoint> m_leftLaserResults;
 
 	/** Right laser results */
-	std::vector<NeutralFileRecord> m_rightLaserResults;
+	std::vector<DataPoint> m_rightLaserResults;
 
 	/** Protection for the the 3D result data */
 	CriticalSection m_results;
diff --git a/src/StlWriter.cpp b/src/StlWriter.cpp
index 853a3fc..d87ba44 100644
--- a/src/StlWriter.cpp
+++ b/src/StlWriter.cpp
@@ -19,7 +19,6 @@
 */
 
 #include "Main.h"
-#include "NeutralFileReader.h"
 #include "StlWriter.h"
 #include "Camera.h"
 #include "Laser.h"
@@ -28,20 +27,10 @@
 namespace freelss
 {
 
-static real32 DistanceSquared(const ColoredPoint& a, const ColoredPoint&b)
-{
-	real32 dx = a.x - b.x;
-	real32 dy = a.y - b.y;
-	real32 dz = a.z - b.z;
-
-	return dx * dx + dy * dy + dz * dz;
-}
 
 
 StlWriter::StlWriter() :
-	m_maxEdgeDistMmSq(12.4 * 12.2),  // TODO: Make this a setting or autodetect it based off the distance to table and the detail level
-	m_attribute(0),
-	m_imageWidth(0)
+	m_attribute(0)
 {
 	m_normal[0] = 0;
 	m_normal[1] = 0;
@@ -49,7 +38,7 @@ StlWriter::StlWriter() :
 }
 
 
-void StlWriter::write(const std::string& baseFilename, const std::vector<NeutralFileRecord>& results, bool connectLastFrameToFirst, Progress& progress)
+void StlWriter::write(const std::string& baseFilename, const std::vector<DataPoint>& results, const FaceMap& faces, Progress& progress)
 {
 	progress.setLabel("Generating STL file");
 	progress.setPercent(0);
@@ -61,98 +50,24 @@ void StlWriter::write(const std::string& baseFilename, const std::vector<Neutral
 		throw Exception("Error opening STL file for writing: " + stlFilename);
 	}
 
-	uint32 maxNumRows = Camera::getInstance()->getImageHeight(); // TODO: Make this use the image height that generated the result and not the current Camera
-	m_imageWidth = Camera::getInstance()->getImageWidth();
-	uint32 numRowBins = 400; // TODO: Autodetect this or have it in Database
-
 	// Write the STL header
-	writeHeader(fout);
+	writeHeader(fout, faces);
 
-	uint32 numTriangles = 0;
+	const std::vector<unsigned>& triangles = faces.triangles;
 
-	try
+	for (size_t idx = 0; idx < triangles.size(); idx += 3)
 	{
-		int iStep = 0;
-
-		std::vector<NeutralFileRecord> firstFrame;
-		std::vector<NeutralFileRecord> frameA;
-		std::vector<NeutralFileRecord> frameB;
-		std::vector<NeutralFileRecord> frameC;
-
-		std::vector<NeutralFileRecord> * currentFrame = &frameA;
-		std::vector<NeutralFileRecord> * lastFrame = &frameB;
-
-		size_t resultIndex = 0;
-		size_t totNumPoints = 0;
-
-		real percent = 0;
-		while (NeutralFileRecord::readNextFrame(frameC, results, resultIndex))
-		{
-			real newPct = 100.0f * resultIndex / results.size();
-			if (newPct - percent > 0.1)
-			{
-				progress.setPercent(newPct);
-				percent = newPct;
-			}
-
-			// Reduce the number of result rows and filter out some of the noise
-			NeutralFileRecord::lowpassFilter(* currentFrame, frameC, maxNumRows, numRowBins);
-
-			totNumPoints += currentFrame->size();
-
-			// Sort the results in decreasing Y
-			//std::sort(currentFrame->begin(), currentFrame->end(), SortRecordByYValue);
-
-			if (iStep > 0)
-			{
-				writeTrianglesForColumn(* currentFrame, * lastFrame, fout, numTriangles);
-			}
-			else if (connectLastFrameToFirst)
-			{
-				// Store the first frame for usage later on
-				firstFrame = frameC;
-			}
-
-			// Swap to the other buffer to populate it
-			std::vector<NeutralFileRecord> * tmpFrame = lastFrame;
-			lastFrame = currentFrame;
-			currentFrame = tmpFrame;
-
-			iStep++;
-		}
-
-		// If this was a full scan close the loop
-		if (connectLastFrameToFirst && iStep > 0)
-		{
-			totNumPoints += firstFrame.size();
-			writeTrianglesForColumn(firstFrame, * lastFrame, fout, numTriangles);
-		}
-
-		fout.close();
-
-		std::cout << "Meshed " << (iStep + 1) << " scans with a total of " << totNumPoints << " points." << std::endl;
-
-		int filePos = 80;  // The file position where we should write the triangle count
-		std::fstream fp (stlFilename.c_str());
-		if (!fp.is_open())
-		{
-			throw Exception(std::string("Error updating triangle count in STL file: ") + stlFilename);
-		}
+		const ColoredPoint& pt1 = results[triangles[idx]].point;
+		const ColoredPoint& pt2 = results[triangles[idx + 1]].point;
+		const ColoredPoint& pt3 = results[triangles[idx + 2]].point;
 
-		fp.seekp(filePos, std::ios_base::beg);
-		fp.write((const char *)&numTriangles, sizeof(uint32));
-		fp.close();
-	}
-	catch (...)
-	{
-		fout.close();
-		throw;
+		writeTriangle(pt1, pt2, pt3, fout);
 	}
 
 	fout.close();
 }
 
-void StlWriter::writeHeader(std::ofstream& fout)
+void StlWriter::writeHeader(std::ofstream& fout, const FaceMap& faces)
 {
 	unsigned char header[80];
 	memset(header, 0, sizeof(header));
@@ -162,189 +77,23 @@ void StlWriter::writeHeader(std::ofstream& fout)
 	fout.write((const char *)header, sizeof(unsigned char) * 80);
 
 	// Write number of triangles
-	uint32 numTriangles = 0;
+	uint32 numTriangles = (uint32) (faces.triangles.size() / 3);
 	fout.write((const char *)&numTriangles, sizeof(uint32));
 }
 
-bool StlWriter::isInwardFacingFace(const NeutralFileRecord& p1, const NeutralFileRecord& p2, const NeutralFileRecord& p3)
-{
-	int laserSide = p1.laserSide;
-	bool inwardFacing = false;
-	float halfImageWidth = m_imageWidth * 0.5f; // If it's past the centerline then it will result in an inward facing triangle
-
-	if (laserSide == (int)Laser::LEFT_LASER)
-	{
-		inwardFacing = p1.pixel.x > halfImageWidth || p2.pixel.x > halfImageWidth || p3.pixel.x > halfImageWidth;
-	}
-	else if (laserSide == (int)Laser::RIGHT_LASER)
-	{
-		inwardFacing = p1.pixel.x < halfImageWidth || p2.pixel.x < halfImageWidth || p3.pixel.x < halfImageWidth;
-	}
-	else
-	{
-		throw Exception("Unsupported LaserSide in StlWriter::isInwardFacingFace");
-	}
-
-	return inwardFacing;
-}
-
-/*
-foreach column
-	set row to 0
-	foreach pt in prev_column
-		// Fan connect to the row
-		while cell[row] is within range and cell[row + 1] is within range and closer to this point than the one below
-			createTriangle(pt, cell[row], cell[row + 1])
-			row++
-
-		// Extend mesh down to start processing the next point
-		if nextPt is within range
-			createTriangle(pt, nextPt, cell[row])
-
-
- */
-void StlWriter::writeTrianglesForColumn(const std::vector<NeutralFileRecord>& currentFrame, const std::vector<NeutralFileRecord>& lastFrame, std::ofstream& fout, uint32& numTriangles)
+void StlWriter::writeTriangle(const ColoredPoint& pt1, const ColoredPoint& pt2, const ColoredPoint& pt3, std::ofstream& fout)
 {
-	size_t iCur = 0;
-
-	for (size_t iLst = 0; iLst + 1 < lastFrame.size(); iLst++)
-	{
-		const NeutralFileRecord & l1 = lastFrame[iLst];
-		const NeutralFileRecord & l2 = lastFrame[iLst + 1];
-
-		// If the current point is in range
-		while (iCur + 1 < currentFrame.size())
-		{
-			const NeutralFileRecord & c1 = currentFrame[iCur];
-			const NeutralFileRecord & c2 = currentFrame[iCur + 1];
-
-			// If there is a hole in the model, skip along until there isn't one
-			if (isValidTriangle(l1.point, c1.point, c2.point))
-			{
-				real32 distSq1 = DistanceSquared(l1.point, c2.point);
-				real32 distSq2 = DistanceSquared(l2.point, c2.point);
-
-				// While this C point is closer to this L point than the next L point, create a triangle fan with it
-				// Don't generate triangles bigger than our maximum allowable edge distance
-				// if (distSq1 < distSq2 && distSq1 <= m_maxEdgeDistMmSq)
-				if (distSq1 < distSq2)
-				{
-					// Determine if we need to flip the normal or not
-					bool flipNormal = isInwardFacingFace(l1, c1, c2);
-					writeTriangle(l1.point, c1.point, c2.point, flipNormal, fout);
-					numTriangles++;
-				}
-				else
-				{
-					// Connect to this triangle
-					if (isValidTriangle(l2.point, l1.point, c1.point))
-					{
-						bool flipNormal = isInwardFacingFace(l2, l1, c1);
-						writeTriangle(l2.point, l1.point, c1.point, flipNormal, fout);
-						numTriangles++;
-					}
-					else
-					{
-						iCur++;
-					}
-
-					// It's closer to the next L point, so advance to it
-					break;
-				}
-			}
-			else
-			{
-				iCur++;
-				break;
-			}
-
-			// Advance to the next row
-			iCur++;
-		}
-	}
-}
-
-bool StlWriter::isValidTriangle(const ColoredPoint& pt1, const ColoredPoint& pt2, const ColoredPoint& pt3)
-{
-	if (DistanceSquared(pt1, pt2) > m_maxEdgeDistMmSq)
-	{
-		return false;
-	}
-	else if (DistanceSquared(pt1, pt3) > m_maxEdgeDistMmSq)
-	{
-		return false;
-	}
-	else if (DistanceSquared(pt2, pt3) > m_maxEdgeDistMmSq)
-	{
-		return false;
-	}
-
-	return true;
-}
-
-void StlWriter::writeTriangle(const ColoredPoint& pt1, const ColoredPoint& pt2, const ColoredPoint& pt3, bool flipNormal, std::ofstream& fout)
-{
-	real32 pt1x, pt1y, pt1z;
-	real32 pt2x, pt2y, pt2z;
-	real32 pt3x, pt3y, pt3z;
-
-
-	if (!flipNormal)
-	{
-		pt1x = pt1.x;
-		pt1y = pt1.y;
-		pt1z = pt1.z;
-		pt2x = pt2.x;
-		pt2y = pt2.y;
-		pt2z = pt2.z;
-		pt3x = pt3.x;
-		pt3y = pt3.y;
-		pt3z = pt3.z;
-	}
-	else
-	{
-		pt1x = pt3.x;
-		pt1y = pt3.y;
-		pt1z = pt3.z;
-		pt2x = pt2.x;
-		pt2y = pt2.y;
-		pt2z = pt2.z;
-		pt3x = pt1.x;
-		pt3y = pt1.y;
-		pt3z = pt1.z;
-	}
-
-
 	fout.write((const char *)&m_normal, sizeof(real32) * 3);
-	fout.write((const char *)&pt1x, sizeof(real32));
-	fout.write((const char *)&pt1y, sizeof(real32));
-	fout.write((const char *)&pt1z, sizeof(real32));
-	fout.write((const char *)&pt2x, sizeof(real32));
-	fout.write((const char *)&pt2y, sizeof(real32));
-	fout.write((const char *)&pt2z, sizeof(real32));
-	fout.write((const char *)&pt3x, sizeof(real32));
-	fout.write((const char *)&pt3y, sizeof(real32));
-	fout.write((const char *)&pt3z, sizeof(real32));
+	fout.write((const char *)&pt1.x, sizeof(real32));
+	fout.write((const char *)&pt1.y, sizeof(real32));
+	fout.write((const char *)&pt1.z, sizeof(real32));
+	fout.write((const char *)&pt2.x, sizeof(real32));
+	fout.write((const char *)&pt2.y, sizeof(real32));
+	fout.write((const char *)&pt2.z, sizeof(real32));
+	fout.write((const char *)&pt3.x, sizeof(real32));
+	fout.write((const char *)&pt3.y, sizeof(real32));
+	fout.write((const char *)&pt3.z, sizeof(real32));
 	fout.write((const char *)&m_attribute, sizeof(uint16));
 }
 
-void StlWriter::populateBuffer(NeutralFileRecord * records, int numRecords, NeutralFileRecord ** buffer, int maxNumRecords)
-{
-	// Set all the pointers in buffer to NULL
-	memset(buffer, 0, sizeof(NeutralFileRecord *) * maxNumRecords);
-
-	// Expand the records so that they sit at the same index as their pixel row
-	for (int i = 0; i < numRecords; i++)
-	{
-		int row = ROUND(records[i].pixel.y);
-		if (row >= maxNumRecords)
-		{
-			throw Exception("Pixel value is outside the maximum number of records");
-		}
-
-		// Point to the record
-		buffer[row] = &records[i];
-	}
-}
-
 }
diff --git a/src/StlWriter.h b/src/StlWriter.h
index 307a4dd..ea19562 100644
--- a/src/StlWriter.h
+++ b/src/StlWriter.h
@@ -30,32 +30,14 @@ class StlWriter
 public:
 	StlWriter();
 
-	void write(const std::string& filename, const std::vector<NeutralFileRecord>& results, bool connectLastFrameToFirst, Progress& progress);
+	void write(const std::string& filename, const std::vector<DataPoint>& results, const FaceMap& faces, Progress& progress);
 
 private:
-	void writeHeader(std::ofstream& fout);
-	void populateBuffer(NeutralFileRecord * records, int numRecords, NeutralFileRecord ** buffer, int maxNumRecords);
-	void writeTrianglesForColumn(const std::vector<NeutralFileRecord>& currentFrame, const std::vector<NeutralFileRecord>& lastFrame, std::ofstream& fout, uint32& numTriangles);
-	void writeTriangle(const ColoredPoint& pt1, const ColoredPoint& pt2, const ColoredPoint& pt3, bool flipNormal, std::ofstream& fout);
-
-	bool isValidTriangle(const ColoredPoint& pt1, const ColoredPoint& pt2, const ColoredPoint& pt3);
-
-	/**
-	 * Indicates if the face is oriented point into the model and the normal needs to get flipped.
-	 * This method assumes that the camera is looking straight down -z and x = 0.  The y doesn't matter.
-	 * This method assumes that all points were taken from the same laser.
-	 */
-	bool isInwardFacingFace(const NeutralFileRecord& p1, const NeutralFileRecord& p2, const NeutralFileRecord& p3);
-
-
-	/** The max triangle edge distance in mm sq */
-	real32 m_maxEdgeDistMmSq;
+	void writeHeader(std::ofstream& fout, const FaceMap& faces);
+	void writeTriangle(const ColoredPoint& pt1, const ColoredPoint& pt2, const ColoredPoint& pt3, std::ofstream& fout);
 
 	real32 m_normal[3];
 	uint16 m_attribute;
-
-	/** The image width of the current camera */
-	int m_imageWidth;
 };
 
 }
diff --git a/src/WebContent.cpp b/src/WebContent.cpp
index e815e84..3747644 100644
--- a/src/WebContent.cpp
+++ b/src/WebContent.cpp
@@ -293,6 +293,9 @@ const std::string WebContent::PLY_DATA_FORMAT_DESCR = "Whether to generate binar
 
 std::string WebContent::scan(const std::vector<ScanResult>& pastScans)
 {
+	const Preset& preset = PresetManager::get()->getActivePreset();
+	std::string presetName = preset.name;
+
 	std::stringstream sstr;
 	sstr << "<!DOCTYPE html><html><head>"
 		 << CSS
@@ -309,6 +312,7 @@ std::string WebContent::scan(const std::vector<ScanResult>& pastScans)
 </div>\
 <p>Click the button to start the scan </p>\
 <form action=\"/\" method=\"POST\" enctype=\"application/x-www-form-urlencoded\">\
+<div><div class=\"settingsText\">Preset</div><input class=\"settingsInput\" readonly=\"true\" value=\"" << presetName << "\"></div>\
 <div><div class=\"settingsText\">Degrees</div><input name=\"degrees\" class=\"settingsInput\" value=\"360\"> degrees</div>\
 	<input type=\"hidden\" name=\"cmd\" value=\"startScan\">\
 	<input class=\"submit\" type=\"submit\" value=\"Start Scan\">\
@@ -421,7 +425,7 @@ std::string WebContent::scanRunning(Progress& progress, real remainingTime)
 		 << JAVASCRIPT
 		 << std::endl
 		 << "</head>"
-	     << "<body><p>"
+	     << "<body><p><div style=\"float: left\">"
 	     << progress.getLabel()
 	     << " is "
 	     << progress.getPercent()
@@ -434,7 +438,9 @@ std::string WebContent::scanRunning(Progress& progress, real remainingTime)
 				  << " minutes remaining";
 		}
 
-	sstr << ". <a href=\"/preview\">Preview</a></p>"
+	sstr << ".&nbsp;</div><div style=\"padding-left: 50px\"><form action=\"/preview\" method=\"GET\" enctype=\"application/x-www-form-urlencoded\">"
+		 << "<input type=\"submit\" value=\"Preview\">"
+		 << "</form></div><br><br>"
 	     << "<form action=\"/\" method=\"POST\" enctype=\"application/x-www-form-urlencoded\">"
 	     << "<input type=\"hidden\" name=\"cmd\" value=\"stopScan\">"
 	     << "<input type=\"submit\" value=\"Stop Scan\">"
diff --git a/src/XyzWriter.cpp b/src/XyzWriter.cpp
index 59ed038..b08f28c 100644
--- a/src/XyzWriter.cpp
+++ b/src/XyzWriter.cpp
@@ -26,7 +26,7 @@
 namespace freelss
 {
 
-void XyzWriter::write(const std::string& baseFilename, const std::vector<NeutralFileRecord>& results, Progress& progress)
+void XyzWriter::write(const std::string& baseFilename, const std::vector<DataPoint>& results, Progress& progress)
 {
 	// Sanity check
 	if (results.empty())
@@ -49,12 +49,12 @@ void XyzWriter::write(const std::string& baseFilename, const std::vector<Neutral
 
 	try
 	{
-		std::vector<NeutralFileRecord> frameA;
-		std::vector<NeutralFileRecord> currentFrame;
+		std::vector<DataPoint> frameA;
+		std::vector<DataPoint> currentFrame;
 
 		size_t resultIndex = 0;
 		real percent = 0;
-		while (NeutralFileRecord::readNextFrame(frameA, results, resultIndex))
+		while (DataPoint::readNextFrame(frameA, results, resultIndex))
 		{
 			real newPct = 100.0f * resultIndex / results.size();
 			if (newPct - percent > 0.1)
@@ -64,12 +64,12 @@ void XyzWriter::write(const std::string& baseFilename, const std::vector<Neutral
 			}
 
 			// Reduce the number of result rows and filter out some of the noise
-			NeutralFileRecord::lowpassFilter(currentFrame, frameA, maxNumRows, numRowBins);
+			DataPoint::lowpassFilter(currentFrame, frameA, maxNumRows, numRowBins);
 
 			// Write the filtered results to the XYZ file
 			for (size_t iRec = 0; iRec < currentFrame.size(); iRec++)
 			{
-				const NeutralFileRecord& rec = currentFrame[iRec];
+				const DataPoint& rec = currentFrame[iRec];
 				const ColoredPoint & pt = rec.point;
 
 				xyz << pt.x        << " " << pt.y        << " " << pt.z        << " "
diff --git a/src/XyzWriter.h b/src/XyzWriter.h
index 88ea819..cfb35fc 100644
--- a/src/XyzWriter.h
+++ b/src/XyzWriter.h
@@ -32,7 +32,7 @@ class XyzWriter
 {
 public:
 
-	void write(const std::string& filename, const std::vector<NeutralFileRecord>& results, Progress& progress);
+	void write(const std::string& filename, const std::vector<DataPoint>& results, Progress& progress);
 };
 
 }