diff --git a/libs/srba/include/mrpt/srba/RbaEngine.h b/libs/srba/include/mrpt/srba/RbaEngine.h
index 358bdb6da2..d2e0d45e0d 100644
--- a/libs/srba/include/mrpt/srba/RbaEngine.h
+++ b/libs/srba/include/mrpt/srba/RbaEngine.h
@@ -218,7 +218,8 @@ namespace srba
 				span_tree_max_depth(static_cast<size_t>(-1)),
 				draw_unknown_feats(true),
 				draw_unknown_feats_ellipses(true),
-				draw_unknown_feats_ellipses_quantiles(1)
+				draw_unknown_feats_ellipses_quantiles(1),
+				show_unknown_feats_ids(true)
 			{
 			}
 
@@ -226,6 +227,7 @@ namespace srba
 			bool   draw_unknown_feats;  //!< Draw features with non-fixed rel.pos as well?
 			bool   draw_unknown_feats_ellipses;
 			double draw_unknown_feats_ellipses_quantiles;
+			bool   show_unknown_feats_ids;
 		};
 
 		/** Build an opengl representation of the current state of this RBA problem
diff --git a/libs/srba/include/mrpt/srba/impl/export_opengl.h b/libs/srba/include/mrpt/srba/impl/export_opengl.h
index 1b461291af..d88fc5af88 100644
--- a/libs/srba/include/mrpt/srba/impl/export_opengl.h
+++ b/libs/srba/include/mrpt/srba/impl/export_opengl.h
@@ -51,7 +51,8 @@ void RbaEngine<KF2KF_POSE_TYPE,LM_TYPE,OBS_TYPE,RBA_OPTIONS>::build_opengl_repre
 
 				mrpt::opengl::CSetOfObjectsPtr o = mrpt::opengl::stock_objects::CornerXYZSimple(0.75,2.0);
 				o->setPose(p);
-				o->setName( mrpt::format("%d",itP->first).c_str() );
+				o->setName( mrpt::format("%d",int(itP->first)).c_str() );
+				o->enableShowName();
 				out_scene->insert(o);
 			}
 			// And a bigger one for the root:
@@ -63,6 +64,7 @@ void RbaEngine<KF2KF_POSE_TYPE,LM_TYPE,OBS_TYPE,RBA_OPTIONS>::build_opengl_repre
 
 			// Draw all edges between frames:
 			mrpt::opengl::CSetOfLinesPtr gl_edges = mrpt::opengl::CSetOfLines::Create();
+			gl_edges->setColor(1,0,1); // Magenta, in order to not confuse them with the standard lines of a grid plane
 #ifdef SRBA_WORKAROUND_MSVC9_DEQUE_BUG
 			for (typename rba_problem_state_t::k2k_edges_deque_t::const_iterator itEdge2 = rba_state.k2k_edges.begin();itEdge2!=rba_state.k2k_edges.end();++itEdge2)
 			{
diff --git a/libs/srba/include/mrpt/srba/impl/export_opengl_landmark_renderers.h b/libs/srba/include/mrpt/srba/impl/export_opengl_landmark_renderers.h
index 8e4e2e3316..88e985a07f 100644
--- a/libs/srba/include/mrpt/srba/impl/export_opengl_landmark_renderers.h
+++ b/libs/srba/include/mrpt/srba/impl/export_opengl_landmark_renderers.h
@@ -97,16 +97,19 @@ template <> struct LandmarkRendererBase<landmark_rendering_as_point>
 			base_pose.composePoint(p_wrt_base,p_global);
 
 			gl_lms->insertPoint(p_global.x,p_global.y,p_global.z);
-
-			// Add text label:
-			mrpt::opengl::CText3DPtr  gl_txt = mrpt::opengl::CText3D::Create(
-				mrpt::format("%u",static_cast<unsigned int>( itLM->first)),
-				"mono", 0.15,
-				mrpt::opengl::NICE );
-			gl_txt->setPose(CPose3D(p_global.x,p_global.y,p_global.z,DEG2RAD(-90),DEG2RAD(0),DEG2RAD(90)));
-			gl_txt->setColor( is_known ? col_known_lms : col_unknown_lms );
-
-			scene.insert(gl_txt);
+			
+			if( options.show_unknown_feats_ids )
+			{
+				// Add text label:
+				mrpt::opengl::CText3DPtr  gl_txt = mrpt::opengl::CText3D::Create(
+					mrpt::format("%u",static_cast<unsigned int>( itLM->first)),
+					"mono", 0.15,
+					mrpt::opengl::NICE );
+				gl_txt->setPose(CPose3D(p_global.x,p_global.y,p_global.z,DEG2RAD(-90),DEG2RAD(0),DEG2RAD(90)));
+				gl_txt->setColor( is_known ? col_known_lms : col_unknown_lms );
+
+				scene.insert(gl_txt);
+			}
 
 			// Uncertainty ellipse?
 			if (options.draw_unknown_feats_ellipses && lms_to_draw_inf_covs[i] )