Dynamic 3d printing – idea

3D printers nowadays use Gcode which is generated by slicer and is fixed.
A more improved version can scan the object using lidar or cameras, determine existing hardware structure and then can start printing based on it, as opposed to preprogrammed sequence. This can cause prints to fail less often, i.e. a printer may fail due to shifted z axis or if it misses a layer, the adhesion of new material will not be there, or will not be proper. By observing the hardware simultaneously while printing, it can act as an negative sculptor (extruder adding mass to shape), and print dynamically as desired, for e.g. if a goal of how the model will look is set, etc.