The problem is I detect some incorrect loop closures that mess up my SLAM. I found a way to remove the incorrect loop closures as shown below (assuming EdgeID :196 is the incorrect constraint) from the SLAM object slamAlg:
Even after removing loop closure, the poseGraph remains the same (retains the incorrect shape). I would like to know if there is a way to reoptimize the poseGraph or updatePosegraph afterwards?
Evidently there is a way as it is used in the Matlab SLAM Mao builder application where you can correct/ignore loop closures and the map is reoptimized.