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Sweeping !55468 from master to 22.0. set the covariance to infinite if no beampost constraint and check the cavariance of each vertex

Atlas Nightlybuild requested to merge cherry-pick-51deb29816b-22.0 into 22.0

set the covariance to infinite if no beampost constraint and check the cavariance of each vertex

See merge request !55468 (merged)

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