Questions about the transformation of various points in the frame

[LL884800]

Hello, I would like to ask you something. In this algorithm, the pose of the frame is estimated through Kiss-ICP. Is this estimated pose directly assumed to be the pose corresponding to the first time in the frame? Or is it basically not considering the inconsistency of the time series of each point in the frame, and directly converting the bits of all points in the frame to the frame