diff --git a/gtsam/linear/linear.i b/gtsam/linear/linear.i
index cf65b1a38..d882cb38b 100644
--- a/gtsam/linear/linear.i
+++ b/gtsam/linear/linear.i
@@ -34,6 +34,9 @@ virtual class Gaussian : gtsam::noiseModel::Base {
 
   // enabling serialization functionality
   void serializable() const;
+
+  // enable pickling in python
+  void pickle() const;
 };
 
 virtual class Diagonal : gtsam::noiseModel::Gaussian {
@@ -49,6 +52,9 @@ virtual class Diagonal : gtsam::noiseModel::Gaussian {
 
   // enabling serialization functionality
   void serializable() const;
+
+  // enable pickling in python
+  void pickle() const;
 };
 
 virtual class Constrained : gtsam::noiseModel::Diagonal {
@@ -66,6 +72,9 @@ virtual class Constrained : gtsam::noiseModel::Diagonal {
 
     // enabling serialization functionality
     void serializable() const;
+
+    // enable pickling in python
+    void pickle() const;
 };
 
 virtual class Isotropic : gtsam::noiseModel::Diagonal {
@@ -78,6 +87,9 @@ virtual class Isotropic : gtsam::noiseModel::Diagonal {
 
   // enabling serialization functionality
   void serializable() const;
+
+  // enable pickling in python
+  void pickle() const;
 };
 
 virtual class Unit : gtsam::noiseModel::Isotropic {
@@ -85,6 +97,9 @@ virtual class Unit : gtsam::noiseModel::Isotropic {
 
   // enabling serialization functionality
   void serializable() const;
+
+  // enable pickling in python
+  void pickle() const;
 };
 
 namespace mEstimator {
diff --git a/gtsam/navigation/navigation.i b/gtsam/navigation/navigation.i
index 7a879c3ef..1f9ffcf2e 100644
--- a/gtsam/navigation/navigation.i
+++ b/gtsam/navigation/navigation.i
@@ -41,6 +41,12 @@ class ConstantBias {
   Vector gyroscope() const;
   Vector correctAccelerometer(Vector measurement) const;
   Vector correctGyroscope(Vector measurement) const;
+
+  // enabling serialization functionality
+  void serialize() const;
+
+  // enable pickling in python
+  void pickle() const;
 };
 
 }///\namespace imuBias
@@ -64,6 +70,12 @@ class NavState {
 
   gtsam::NavState retract(const Vector& x) const;
   Vector localCoordinates(const gtsam::NavState& g) const;
+
+  // enabling serialization functionality
+  void serialize() const;
+
+  // enable pickling in python
+  void pickle() const;
 };
 
 #include <gtsam/navigation/PreintegratedRotation.h>
@@ -106,6 +118,12 @@ virtual class PreintegrationParams : gtsam::PreintegratedRotationParams {
   Matrix getAccelerometerCovariance() const;
   Matrix getIntegrationCovariance()   const;
   bool   getUse2ndOrderCoriolis()     const;
+
+  // enabling serialization functionality
+  void serialize() const;
+
+  // enable pickling in python
+  void pickle() const;
 };
 
 #include <gtsam/navigation/ImuFactor.h>
@@ -135,6 +153,12 @@ class PreintegratedImuMeasurements {
   Vector biasHatVector() const;
   gtsam::NavState predict(const gtsam::NavState& state_i,
       const gtsam::imuBias::ConstantBias& bias) const;
+
+  // enabling serialization functionality
+  void serialize() const;
+
+  // enable pickling in python
+  void pickle() const;
 };
 
 virtual class ImuFactor: gtsam::NonlinearFactor {