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points[i] gives you information about the ith point from the frame of the sensor. That is, if

points[i] = {
    x : 0.2
    y : 1.2
    z : 0.6
}

that means that ith point is at (0.2,1.2,0.6) in the frame of the sensor. Assuming the sensor is fixed to the body of your robot, you can use a static transformation to transform that information to your base_link frame. You can read up on transforms here : http://wiki.ros.org/tf

I hope you are clear. If not, let me know.