diff --git a/gtsam/nonlinear/NonlinearFactorGraph.cpp b/gtsam/nonlinear/NonlinearFactorGraph.cpp
index 67bd0c456..0479b06a5 100644
--- a/gtsam/nonlinear/NonlinearFactorGraph.cpp
+++ b/gtsam/nonlinear/NonlinearFactorGraph.cpp
@@ -129,7 +129,7 @@ void NonlinearFactorGraph::saveGraph(std::ostream &stm, const Values& values,
     if(values.exists(key)) {
       boost::optional<Point2> xy = getXY(values.at(key), graphvizFormatting);
       if(xy)
-        stm << ", pos=\"" << (xy->x() - minX) << "," << (xy->y() - minY) << "!\"";
+        stm << ", pos=\"" << graphvizFormatting.scale*(xy->x() - minX) << "," << graphvizFormatting.scale*(xy->y() - minY) << "!\"";
     }
     stm << "];\n";
   }
@@ -150,7 +150,13 @@ void NonlinearFactorGraph::saveGraph(std::ostream &stm, const Values& values,
     size_t i = 0;
     BOOST_FOREACH(const vector<Key>& factorKeys, structure) {
       // Make each factor a dot
-      stm << "  factor" << i << "[label=\"\", shape=point];\n";
+      stm << "  factor" << i << "[label=\"\", shape=point";
+      {
+        map<size_t, Point2>::const_iterator pos = graphvizFormatting.factorPositions.find(i);
+        if(pos != graphvizFormatting.factorPositions.end())
+          stm << ", pos=\"" << graphvizFormatting.scale*(pos->second.x() - minX) << "," << graphvizFormatting.scale*(pos->second.y() - minY) << "!\"";
+      }
+      stm << "];\n";
 
       // Make factor-variable connections
       BOOST_FOREACH(Key key, factorKeys) {
diff --git a/gtsam/nonlinear/NonlinearFactorGraph.h b/gtsam/nonlinear/NonlinearFactorGraph.h
index 216e9e1c4..d86831703 100644
--- a/gtsam/nonlinear/NonlinearFactorGraph.h
+++ b/gtsam/nonlinear/NonlinearFactorGraph.h
@@ -21,6 +21,7 @@
 
 #pragma once
 
+#include <gtsam/geometry/Point2.h>
 #include <gtsam/inference/SymbolicFactorGraph.h>
 #include <gtsam/linear/GaussianFactorGraph.h>
 #include <gtsam/nonlinear/NonlinearFactor.h>
@@ -37,12 +38,14 @@ namespace gtsam {
     Axis paperVerticalAxis; ///< The world axis assigned to the vertical paper axis
     double figureWidthInches; ///< The figure width on paper in inches
     double figureHeightInches; ///< The figure height on paper in inches
+    double scale; ///< Scale all positions to reduce / increase density
     bool mergeSimilarFactors; ///< Merge multiple factors that have the same connectivity
+    std::map<size_t, Point2> factorPositions; ///< (optional for each factor) Manually specify factor "dot" positions.
     /// Default constructor sets up robot coordinates.  Paper horizontal is robot Y,
     /// paper vertical is robot X.  Default figure size of 5x5 in.
     GraphvizFormatting() :
       paperHorizontalAxis(Y), paperVerticalAxis(X),
-      figureWidthInches(5), figureHeightInches(5),
+      figureWidthInches(5), figureHeightInches(5), scale(1),
       mergeSimilarFactors(false) {}
   };