tranformation using static publisher and listener

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Hi,

If I have two frames I want to do transformation.. in my code i have the following:

 void laserCallback (const sensor_msgs::LaserScan::ConstPtr& scan_in)
{
    double t1 = ros::Time::now().toSec() ;
    //std::cout<<"LASER" << scan_in->header.frame_id << std::endl ;
    if(!listener_.waitForTransform(scan_in->header.frame_id,
                                   "/uav/baselink_ENU",
                                   scan_in->header.stamp + ros::Duration().fromSec(scan_in->ranges.size()*scan_in->time_increment),
                                   ros::Duration(1.0)))
    {
        std::cout << "RETURN" << std::endl ;
        return;
    }
    sensor_msgs::PointCloud msg;

     // Which one of the follwoing should I use ? 
    //projector_.projectLaser(*scan_in, msg);
//projector_.transformLaserScanToPointCloud("/uav/baselink_ENU",*scan_in, msg,listener_);

}

Is this part needed if I have a static transformation :

   if(!listener_.waitForTransform(scan_in->header.frame_id,
                                   "/uav/baselink_ENU",
                                   scan_in->header.stamp + ros::Duration().fromSec(scan_in->ranges.size()*scan_in->time_increment),
                                   ros::Duration(1.0)))
    {
        std::cout << "RETURN" << std::endl ;
        return;
    }

I mean is it enough to have a static tf publisher and the following line ?

 projector_.transformLaserScanToPointCloud("/uav/baselink_ENU",*scan_in, msg,listener_);