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Problem::getFrameCovariance design issue

The function Eigen::MatrixXs Problem::getFrameCovariance(FrameBasePtr) returns a matrix of proper size whether the second function bool Problem::getFrameCovariance(FrameBasePtr, Eigen::MatrixXs&) return true or false. So one can end-up with a matrix partially initialized...

This very misleading. Maybe the function

Eigen::MatrixXs Problem::getFrameCovariance(FrameBasePtr)

should be deleted ?

Edited by Jeremie Deray