Question: Is the first lidar frame discarded?

[seandmccarthy]

Just checking my understanding the code.

The main ProcessLoop calls ImuProcess::Process at 1 second intervals.

However, the first time ImuProcess::Process is called, b_first_frame_ is true, so it assigns last_lidar_ and last_imu_ but otherwise seems to discard this first point cloud capture.

If correct, should we anticipate that we need an initialisation time of at least one second before we can start creating our map?