diff --git a/timing/timeSFMBALnavTcam.cpp b/timing/timeSFMBALnavTcam.cpp
index 0d0eb4f65..dad1edd4e 100644
--- a/timing/timeSFMBALnavTcam.cpp
+++ b/timing/timeSFMBALnavTcam.cpp
@@ -23,7 +23,6 @@
 #include <gtsam/geometry/Cal3Bundler.h>
 #include <gtsam/geometry/Point3.h>
 
-#include <boost/foreach.hpp>
 
 using namespace std;
 using namespace gtsam;
@@ -36,7 +35,7 @@ int main(int argc, char* argv[]) {
   NonlinearFactorGraph graph;
   for (size_t j = 0; j < db.number_tracks(); j++) {
     Point3_ nav_point_(P(j));
-    BOOST_FOREACH (const SfM_Measurement& m, db.tracks[j].measurements) {
+    for (const SfM_Measurement& m: db.tracks[j].measurements) {
       size_t i = m.first;
       Point2 z = m.second;
       Pose3_ navTcam_(C(i));
@@ -50,12 +49,12 @@ int main(int argc, char* argv[]) {
 
   Values initial;
   size_t i = 0, j = 0;
-  BOOST_FOREACH (const SfM_Camera& camera, db.cameras) {
+  for (const SfM_Camera& camera: db.cameras) {
     initial.insert(C(i), camera.pose());
     initial.insert(K(i), camera.calibration());
     i += 1;
   }
-  BOOST_FOREACH (const SfM_Track& track, db.tracks)
+  for (const SfM_Track& track: db.tracks)
     initial.insert(P(j++), track.p);
 
   bool separateCalibration = true;