A programmed computer or non-transitory computer readable storage media has instructions that are executable by a processor to identify LiDAR data points associated with items of vegetation or other objects. The composition includes a residue cleaning agent and a substantially non-water soluble nonionic surfactant having an initial Ross-Miles foam height in an aqueous solution at 25\xb0 C. The pattern includes elements and each element has one of an aperture or a protrusion.