diff --git a/gtsam/linear/GaussianFactorGraph.cpp b/gtsam/linear/GaussianFactorGraph.cpp
index 13eaee7e3e..24c4b9a0d8 100644
--- a/gtsam/linear/GaussianFactorGraph.cpp
+++ b/gtsam/linear/GaussianFactorGraph.cpp
@@ -510,4 +510,33 @@ namespace gtsam {
       return optimize(function);
   }
 
+  /* ************************************************************************* */
+  void GaussianFactorGraph::printErrors(
+      const VectorValues& values, const std::string& str,
+      const KeyFormatter& keyFormatter,
+      const std::function<bool(const Factor* /*factor*/,
+                               double /*whitenedError*/, size_t /*index*/)>&
+          printCondition) const {
+    cout << str << "size: " << size() << endl << endl;
+    for (size_t i = 0; i < (*this).size(); i++) {
+      const sharedFactor& factor = (*this)[i];
+      const double errorValue =
+          (factor != nullptr ? (*this)[i]->error(values) : .0);
+      if (!printCondition(factor.get(), errorValue, i))
+        continue;  // User-provided filter did not pass
+
+      stringstream ss;
+      ss << "Factor " << i << ": ";
+      if (factor == nullptr) {
+        cout << "nullptr"
+             << "\n";
+      } else {
+        factor->print(ss.str(), keyFormatter);
+        cout << "error = " << errorValue << "\n";
+      }
+      cout << endl;  // only one "endl" at end might be faster, \n for each
+                     // factor
+    }
+  }
+
 } // namespace gtsam
diff --git a/gtsam/linear/GaussianFactorGraph.h b/gtsam/linear/GaussianFactorGraph.h
index e3304d5e8c..d41374854e 100644
--- a/gtsam/linear/GaussianFactorGraph.h
+++ b/gtsam/linear/GaussianFactorGraph.h
@@ -375,6 +375,14 @@ namespace gtsam {
     /** In-place version e <- A*x that takes an iterator. */
     void multiplyInPlace(const VectorValues& x, const Errors::iterator& e) const;
 
+    void printErrors(
+        const VectorValues& x,
+        const std::string& str = "GaussianFactorGraph: ",
+        const KeyFormatter& keyFormatter = DefaultKeyFormatter,
+        const std::function<bool(const Factor* /*factor*/,
+                                 double /*whitenedError*/, size_t /*index*/)>&
+            printCondition =
+                [](const Factor*, double, size_t) { return true; }) const;
     /// @}
 
   private:
diff --git a/gtsam/linear/linear.i b/gtsam/linear/linear.i
index d93b14d3e8..c74161f26e 100644
--- a/gtsam/linear/linear.i
+++ b/gtsam/linear/linear.i
@@ -401,6 +401,7 @@ class GaussianFactorGraph {
   // error and probability
   double error(const gtsam::VectorValues& c) const;
   double probPrime(const gtsam::VectorValues& c) const;
+  void printErrors(const gtsam::VectorValues& c, string str = "GaussianFactorGraph: ", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const;
 
   gtsam::GaussianFactorGraph clone() const;
   gtsam::GaussianFactorGraph negate() const;