How can we use a tf listener and message filter in one node?

edit

I`m trying to get tf transform and sensor msgs from a rosbag. But I found the message filter with a call back function can only work outside the while loop, and tf transform can only work inside a while loop.

Is there any possible way to get tf and image_raw>

code:

void ImageCallback(const sensor_msgs::ImageConstPtr& msg){
  std::string odom = "/odom";
  std::string velo = "/velodyne";

  tf::TransformListener listener;
  tf::StampedTransform transform;

 try {
   listener.lookupTransform(odom, velo, 
   msg->header.stamp, transform);
   std::cout << transform.stamp_ << std::endl;
   std::cout << "img: " << msg->header.stamp << "\n";
 }
 catch (tf2::LookupException ex){

  }
}

I plan to get the sensor_msg in the call back and use the timestamp to get the transform, but I can not get it. Is this way plausible?`