def do_scan(scanner, pcd_file_out):
        """Scan the scene with the Velodyne scanner and save it
        to the file "/tmp/scan.pcd"
        Note: The data will actually be saved to /tmp/scan00000.pcd
        and /tmp/scan_noisy00000.pcd
        """
        # blensor.blendodyne.scan_advanced(
        #     scanner,
        #     rotation_speed=10.0,
        #     simulation_fps=24,
        #     angle_resolution=0.1728,
        #     max_distance=120,
        #     evd_file=pcd_file_out,
        #     noise_mu=0.0,
        #     noise_sigma=0.03,
        #     start_angle=0.0,
        #     end_angle=360.0,
        #     evd_last_scan=True,
        #     add_blender_mesh=False,
        #     add_noisy_blender_mesh=False)

        # blensor.kinect.scan_advanced(
        #     scanner,
        #     evd_file=pcd_file_out,
        #     evd_last_scan=True
        #     )

        # TOF settings
        # https://github.com/mgschwan/blensor/blob/master/release/scripts/addons/blensor/tof.py
        # Blensor 1.0.18 RC 10 Windows has a bug in evd.py: https://github.com/mgschwan/blensor/issues/30
        blensor.tof.scan_advanced(
            scanner,
            evd_file=pcd_file_out,
            evd_last_scan=True,
            max_distance=10.0,
            add_blender_mesh=False,
            add_noisy_blender_mesh=False,
            tof_res_x=176,
            tof_res_y=144,
            lens_angle_w=43.6,
            lens_angle_h=34.6,
            flength=10.0,
            noise_mu=0.0,
            # noise_sigma=scanner_noise_sigma,  # default 0.0004
            noise_sigma=scan_sigmas[i],  # default 0.0004
            backfolding=False,
        )
Scan the scene with the Velodyne scanner and save it
        to the file "/tmp/scan.pcd"
        Note: The data will actually be saved to /tmp/scan00000.pcd
        and /tmp/scan_noisy00000.pcd
        
blensor_script_template.py