text: #ifndef STEREO_POINTCLOUD_HPP
  #define STEREO_POINTCLOUD_HPP
  
  #include <sensor_msgs/PointCloud2.h>
  #include <tf/transform_listener.h>
  
  
  
  class StereoPointcloud
  {
  public:
    StereoPointcloud();
  
    void scanACallback(const sensor_msgs::PointCloud2& cloud_msg_in);
    void scanBCallback(const sensor_msgs::PointCloud2& cloud_msg_in);
  
    tf::TransformListener tf_listener_;
  
    static constexpr double kTimeout_s = 0.2;
    static constexpr unsigned int kScanSubscriberMessageQueueSize = 1u;
  
  };
  
  #endif // STEREO_POINTCLOUD_HPP
  