diff --git a/gtsam_unstable/dynamics/PoseRTV.h b/gtsam_unstable/dynamics/PoseRTV.h
index 89ae59f9c..0e0d9ae27 100644
--- a/gtsam_unstable/dynamics/PoseRTV.h
+++ b/gtsam_unstable/dynamics/PoseRTV.h
@@ -157,6 +157,7 @@ public:
   /// @}
 
 private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class Archive>
@@ -164,6 +165,7 @@ private:
     ar & BOOST_SERIALIZATION_NVP(first);
     ar & BOOST_SERIALIZATION_NVP(second);
   }
+#endif
 };
 
 
diff --git a/gtsam_unstable/dynamics/VelocityConstraint3.h b/gtsam_unstable/dynamics/VelocityConstraint3.h
index ab06b32a4..9f2ec89d2 100644
--- a/gtsam_unstable/dynamics/VelocityConstraint3.h
+++ b/gtsam_unstable/dynamics/VelocityConstraint3.h
@@ -51,6 +51,7 @@ public:
 
 private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -59,6 +60,7 @@ private:
     ar & boost::serialization::make_nvp("NoiseModelFactor3",
         boost::serialization::base_object<Base>(*this));
   }
+#endif
 }; // \VelocityConstraint3
 
 }
diff --git a/gtsam_unstable/geometry/BearingS2.h b/gtsam_unstable/geometry/BearingS2.h
index 59819c555..cb1d055df 100644
--- a/gtsam_unstable/geometry/BearingS2.h
+++ b/gtsam_unstable/geometry/BearingS2.h
@@ -90,6 +90,7 @@ private:
   /// @name Advanced Interface
   /// @{
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  //
   // Serialization function
   friend class boost::serialization::access;
   template<class Archive>
@@ -97,6 +98,7 @@ private:
     ar & BOOST_SERIALIZATION_NVP(azimuth_);
     ar & BOOST_SERIALIZATION_NVP(elevation_);
   }
+#endif
 
 };
 
diff --git a/gtsam_unstable/geometry/InvDepthCamera3.h b/gtsam_unstable/geometry/InvDepthCamera3.h
index 7f02984bf..eb9045dff 100644
--- a/gtsam_unstable/geometry/InvDepthCamera3.h
+++ b/gtsam_unstable/geometry/InvDepthCamera3.h
@@ -172,6 +172,7 @@ private:
   /// @name Advanced Interface
   /// @{
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class Archive>
@@ -179,6 +180,7 @@ private:
     ar & BOOST_SERIALIZATION_NVP(pose_);
     ar & BOOST_SERIALIZATION_NVP(k_);
   }
+#endif
   /// @}
 }; // \class InvDepthCamera
-} // \namesapce gtsam
+} // \namespace gtsam
diff --git a/gtsam_unstable/geometry/Pose3Upright.h b/gtsam_unstable/geometry/Pose3Upright.h
index 1c205c7fb..a77715fc6 100644
--- a/gtsam_unstable/geometry/Pose3Upright.h
+++ b/gtsam_unstable/geometry/Pose3Upright.h
@@ -130,6 +130,7 @@ public:
 
 private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  //
   // Serialization function
   friend class boost::serialization::access;
   template<class Archive>
@@ -137,6 +138,7 @@ private:
     ar & BOOST_SERIALIZATION_NVP(T_);
     ar & BOOST_SERIALIZATION_NVP(z_);
   }
+#endif
 
 }; // \class Pose3Upright
 
diff --git a/gtsam_unstable/nonlinear/LinearizedFactor.h b/gtsam_unstable/nonlinear/LinearizedFactor.h
index 5bf791089..f050676e5 100644
--- a/gtsam_unstable/nonlinear/LinearizedFactor.h
+++ b/gtsam_unstable/nonlinear/LinearizedFactor.h
@@ -59,6 +59,7 @@ public:
   const Values& linearizationPoint() const { return lin_points_; }
 
 private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -67,6 +68,7 @@ private:
         boost::serialization::base_object<Base>(*this));
     ar & BOOST_SERIALIZATION_NVP(lin_points_);
   }
+#endif
 
 };
 
@@ -146,8 +148,8 @@ public:
   Vector error_vector(const Values& c) const;
 
 private:
-  /** Serialization function */
   friend class boost::serialization::access;
+  /** Serialization function */
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
     ar & boost::serialization::make_nvp("LinearizedJacobianFactor",
diff --git a/gtsam_unstable/slam/BetweenFactorEM.h b/gtsam_unstable/slam/BetweenFactorEM.h
index f175e30b3..f1337c0e8 100644
--- a/gtsam_unstable/slam/BetweenFactorEM.h
+++ b/gtsam_unstable/slam/BetweenFactorEM.h
@@ -415,6 +415,7 @@ public:
 
 private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -424,6 +425,7 @@ private:
             boost::serialization::base_object<Base>(*this));
     ar & BOOST_SERIALIZATION_NVP(measured_);
   }
+#endif
 };
 // \class BetweenFactorEM
 
diff --git a/gtsam_unstable/slam/BiasedGPSFactor.h b/gtsam_unstable/slam/BiasedGPSFactor.h
index f4d30c2f9..f2b669f4f 100644
--- a/gtsam_unstable/slam/BiasedGPSFactor.h
+++ b/gtsam_unstable/slam/BiasedGPSFactor.h
@@ -94,6 +94,7 @@ namespace gtsam {
 
   private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     /** Serialization function */
     friend class boost::serialization::access;
     template<class ARCHIVE>
@@ -103,6 +104,7 @@ namespace gtsam {
           boost::serialization::base_object<Base>(*this));
       ar & BOOST_SERIALIZATION_NVP(measured_);
     }
+#endif
   }; // \class BiasedGPSFactor
 
 } /// namespace gtsam
diff --git a/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel.h b/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel.h
index 05ba708aa..f62157845 100644
--- a/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel.h
+++ b/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel.h
@@ -706,6 +706,7 @@ public:
     }
 private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -713,6 +714,7 @@ private:
     ar & boost::serialization::make_nvp("NonlinearFactor2",
         boost::serialization::base_object<Base>(*this));
   }
+#endif
 
 
 
diff --git a/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel_NoBias.h b/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel_NoBias.h
index 390b49faa..a94c95335 100644
--- a/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel_NoBias.h
+++ b/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel_NoBias.h
@@ -573,6 +573,7 @@ public:
     }
 private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -580,6 +581,7 @@ private:
     ar & boost::serialization::make_nvp("NonlinearFactor2",
         boost::serialization::base_object<Base>(*this));
   }
+#endif
 
 
 
diff --git a/gtsam_unstable/slam/GaussMarkov1stOrderFactor.h b/gtsam_unstable/slam/GaussMarkov1stOrderFactor.h
index 87389a40d..b91ed2afe 100644
--- a/gtsam_unstable/slam/GaussMarkov1stOrderFactor.h
+++ b/gtsam_unstable/slam/GaussMarkov1stOrderFactor.h
@@ -113,6 +113,7 @@ public:
 
 private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -121,6 +122,7 @@ private:
     ar & BOOST_SERIALIZATION_NVP(dt_);
     ar & BOOST_SERIALIZATION_NVP(tau_);
   }
+#endif
 
   SharedGaussian calcDiscreteNoiseModel(const SharedGaussian& model, double delta_t){
     /* Q_d (approx)= Q * delta_t */
diff --git a/gtsam_unstable/slam/InertialNavFactor_GlobalVelocity.h b/gtsam_unstable/slam/InertialNavFactor_GlobalVelocity.h
index a4d69f1dd..91dba26e6 100644
--- a/gtsam_unstable/slam/InertialNavFactor_GlobalVelocity.h
+++ b/gtsam_unstable/slam/InertialNavFactor_GlobalVelocity.h
@@ -413,6 +413,7 @@ public:
 
 private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -420,6 +421,7 @@ private:
     ar & boost::serialization::make_nvp("NonlinearFactor2",
         boost::serialization::base_object<Base>(*this));
   }
+#endif
 
 }; // \class InertialNavFactor_GlobalVelocity
 
diff --git a/gtsam_unstable/slam/InvDepthFactor3.h b/gtsam_unstable/slam/InvDepthFactor3.h
index c10ff3b01..64a1366a2 100644
--- a/gtsam_unstable/slam/InvDepthFactor3.h
+++ b/gtsam_unstable/slam/InvDepthFactor3.h
@@ -113,6 +113,7 @@ public:
 
 private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  ///
   /// Serialization function
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -121,5 +122,6 @@ private:
     ar & BOOST_SERIALIZATION_NVP(measured_);
     ar & BOOST_SERIALIZATION_NVP(K_);
   }
+#endif
 };
 } // \ namespace gtsam
diff --git a/gtsam_unstable/slam/InvDepthFactorVariant1.h b/gtsam_unstable/slam/InvDepthFactorVariant1.h
index 0774eaa87..23f8bd3e0 100644
--- a/gtsam_unstable/slam/InvDepthFactorVariant1.h
+++ b/gtsam_unstable/slam/InvDepthFactorVariant1.h
@@ -135,6 +135,7 @@ public:
 
 private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  ///
   /// Serialization function
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -143,6 +144,7 @@ private:
     ar & BOOST_SERIALIZATION_NVP(measured_);
     ar & BOOST_SERIALIZATION_NVP(K_);
   }
+#endif
 };
 
 } // \ namespace gtsam
diff --git a/gtsam_unstable/slam/InvDepthFactorVariant2.h b/gtsam_unstable/slam/InvDepthFactorVariant2.h
index 18f866c56..63fcb4d8c 100644
--- a/gtsam_unstable/slam/InvDepthFactorVariant2.h
+++ b/gtsam_unstable/slam/InvDepthFactorVariant2.h
@@ -142,6 +142,7 @@ public:
 
 private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  ///
   /// Serialization function
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -151,6 +152,7 @@ private:
     ar & BOOST_SERIALIZATION_NVP(K_);
     ar & BOOST_SERIALIZATION_NVP(referencePoint_);
   }
+#endif
 };
 
 } // \ namespace gtsam
diff --git a/gtsam_unstable/slam/InvDepthFactorVariant3.h b/gtsam_unstable/slam/InvDepthFactorVariant3.h
index 4f0ac58a6..fb4588955 100644
--- a/gtsam_unstable/slam/InvDepthFactorVariant3.h
+++ b/gtsam_unstable/slam/InvDepthFactorVariant3.h
@@ -140,6 +140,7 @@ public:
 private:
 
   /// Serialization function
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  ///
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
@@ -147,6 +148,7 @@ private:
     ar & BOOST_SERIALIZATION_NVP(measured_);
     ar & BOOST_SERIALIZATION_NVP(K_);
   }
+#endif
 };
 
 /**
@@ -269,8 +271,8 @@ public:
 
 private:
 
-  /// Serialization function
   friend class boost::serialization::access;
+  /// Serialization function
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
     ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
diff --git a/gtsam_unstable/slam/MultiProjectionFactor.h b/gtsam_unstable/slam/MultiProjectionFactor.h
index 3adf227bc..8e2ea0cf7 100644
--- a/gtsam_unstable/slam/MultiProjectionFactor.h
+++ b/gtsam_unstable/slam/MultiProjectionFactor.h
@@ -213,6 +213,7 @@ namespace gtsam {
 
   private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION    ///
     /// Serialization function
     friend class boost::serialization::access;
     template<class ARCHIVE>
@@ -224,5 +225,6 @@ namespace gtsam {
       ar & BOOST_SERIALIZATION_NVP(throwCheirality_);
       ar & BOOST_SERIALIZATION_NVP(verboseCheirality_);
     }
+#endif
   };
 } // \ namespace gtsam
diff --git a/gtsam_unstable/slam/PartialPriorFactor.h b/gtsam_unstable/slam/PartialPriorFactor.h
index 6e29ca6d5..b70fe8b19 100644
--- a/gtsam_unstable/slam/PartialPriorFactor.h
+++ b/gtsam_unstable/slam/PartialPriorFactor.h
@@ -140,6 +140,7 @@ namespace gtsam {
     const std::vector<size_t>& indices() const { return indices_; }
 
   private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     /** Serialization function */
     friend class boost::serialization::access;
     template<class ARCHIVE>
@@ -151,6 +152,7 @@ namespace gtsam {
       ar & BOOST_SERIALIZATION_NVP(indices_);
       // ar & BOOST_SERIALIZATION_NVP(H_);
     }
+#endif
   }; // \class PartialPriorFactor
 
 } /// namespace gtsam
diff --git a/gtsam_unstable/slam/PoseBetweenFactor.h b/gtsam_unstable/slam/PoseBetweenFactor.h
index 339407a3f..aa383967d 100644
--- a/gtsam_unstable/slam/PoseBetweenFactor.h
+++ b/gtsam_unstable/slam/PoseBetweenFactor.h
@@ -119,6 +119,7 @@ namespace gtsam {
 
   private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     /** Serialization function */
     friend class boost::serialization::access;
     template<class ARCHIVE>
@@ -127,6 +128,7 @@ namespace gtsam {
       ar & BOOST_SERIALIZATION_NVP(measured_);
 
     }
+#endif
   }; // \class PoseBetweenFactor
 
 } /// namespace gtsam
diff --git a/gtsam_unstable/slam/PosePriorFactor.h b/gtsam_unstable/slam/PosePriorFactor.h
index a5e5facbd..4a201ad89 100644
--- a/gtsam_unstable/slam/PosePriorFactor.h
+++ b/gtsam_unstable/slam/PosePriorFactor.h
@@ -101,6 +101,7 @@ namespace gtsam {
 
   private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     /** Serialization function */
     friend class boost::serialization::access;
     template<class ARCHIVE>
@@ -109,6 +110,7 @@ namespace gtsam {
       ar & BOOST_SERIALIZATION_NVP(prior_);
       ar & BOOST_SERIALIZATION_NVP(body_P_sensor_);
     }
+#endif
   };
 
 } /// namespace gtsam
diff --git a/gtsam_unstable/slam/PoseToPointFactor.h b/gtsam_unstable/slam/PoseToPointFactor.h
index 62f681b2e..be454cb70 100644
--- a/gtsam_unstable/slam/PoseToPointFactor.h
+++ b/gtsam_unstable/slam/PoseToPointFactor.h
@@ -92,6 +92,7 @@ class PoseToPointFactor : public NoiseModelFactorN<POSE, POINT> {
   const POINT& measured() const { return measured_; }
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template <class ARCHIVE>
@@ -102,6 +103,7 @@ class PoseToPointFactor : public NoiseModelFactorN<POSE, POINT> {
         boost::serialization::base_object<Base>(*this));
     ar& BOOST_SERIALIZATION_NVP(measured_);
   }
+#endif
 
 };  // \class PoseToPointFactor
 
diff --git a/gtsam_unstable/slam/ProjectionFactorPPP.h b/gtsam_unstable/slam/ProjectionFactorPPP.h
index dea28528d..38467c6cc 100644
--- a/gtsam_unstable/slam/ProjectionFactorPPP.h
+++ b/gtsam_unstable/slam/ProjectionFactorPPP.h
@@ -171,6 +171,7 @@ namespace gtsam {
 
   private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION    ///
     /// Serialization function
     friend class boost::serialization::access;
     template<class ARCHIVE>
@@ -181,6 +182,7 @@ namespace gtsam {
       ar & BOOST_SERIALIZATION_NVP(throwCheirality_);
       ar & BOOST_SERIALIZATION_NVP(verboseCheirality_);
     }
+#endif
   };
 
   /// traits
diff --git a/gtsam_unstable/slam/ProjectionFactorPPPC.h b/gtsam_unstable/slam/ProjectionFactorPPPC.h
index a3dd0850a..5b6a83a33 100644
--- a/gtsam_unstable/slam/ProjectionFactorPPPC.h
+++ b/gtsam_unstable/slam/ProjectionFactorPPPC.h
@@ -151,6 +151,7 @@ class GTSAM_UNSTABLE_EXPORT ProjectionFactorPPPC
 
   private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION    ///
     /// Serialization function
     friend class boost::serialization::access;
     template<class ARCHIVE>
@@ -160,6 +161,7 @@ class GTSAM_UNSTABLE_EXPORT ProjectionFactorPPPC
       ar & BOOST_SERIALIZATION_NVP(throwCheirality_);
       ar & BOOST_SERIALIZATION_NVP(verboseCheirality_);
     }
+#endif
 };
 
   /// traits
diff --git a/gtsam_unstable/slam/ProjectionFactorRollingShutter.h b/gtsam_unstable/slam/ProjectionFactorRollingShutter.h
index 938f20fd6..c5eb58f14 100644
--- a/gtsam_unstable/slam/ProjectionFactorRollingShutter.h
+++ b/gtsam_unstable/slam/ProjectionFactorRollingShutter.h
@@ -194,6 +194,7 @@ class GTSAM_UNSTABLE_EXPORT ProjectionFactorRollingShutter
   inline bool throwCheirality() const { return throwCheirality_; }
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  ///
   /// Serialization function
   friend class boost::serialization::access;
   template <class ARCHIVE>
@@ -206,6 +207,7 @@ class GTSAM_UNSTABLE_EXPORT ProjectionFactorRollingShutter
     ar& BOOST_SERIALIZATION_NVP(throwCheirality_);
     ar& BOOST_SERIALIZATION_NVP(verboseCheirality_);
   }
+#endif
 
  public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
diff --git a/gtsam_unstable/slam/RelativeElevationFactor.h b/gtsam_unstable/slam/RelativeElevationFactor.h
index db86ead96..d24415c3b 100644
--- a/gtsam_unstable/slam/RelativeElevationFactor.h
+++ b/gtsam_unstable/slam/RelativeElevationFactor.h
@@ -65,6 +65,7 @@ public:
 
 private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -74,6 +75,7 @@ private:
         boost::serialization::base_object<Base>(*this));
     ar & BOOST_SERIALIZATION_NVP(measured_);
   }
+#endif
 }; // RelativeElevationFactor
 
 
diff --git a/gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h b/gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h
index 0aac1e0fa..e2e71cc03 100644
--- a/gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h
+++ b/gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h
@@ -456,12 +456,14 @@ class GTSAM_UNSTABLE_EXPORT SmartProjectionPoseFactorRollingShutter
   }
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  ///
   /// Serialization function
   friend class boost::serialization::access;
   template <class ARCHIVE>
   void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
     ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
   }
+#endif
 };
 // end of class declaration
 
diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactor.h b/gtsam_unstable/slam/SmartStereoProjectionFactor.h
index c05bd1fd0..0893af75e 100644
--- a/gtsam_unstable/slam/SmartStereoProjectionFactor.h
+++ b/gtsam_unstable/slam/SmartStereoProjectionFactor.h
@@ -501,6 +501,7 @@ public:
 
 private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  ///
   /// Serialization function
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -509,6 +510,7 @@ private:
     ar & BOOST_SERIALIZATION_NVP(params_.throwCheirality);
     ar & BOOST_SERIALIZATION_NVP(params_.verboseCheirality);
   }
+#endif
 };
 
 /// traits
diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h b/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h
index df5aed412..529a1dc10 100644
--- a/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h
+++ b/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h
@@ -288,6 +288,7 @@ class GTSAM_UNSTABLE_EXPORT SmartStereoProjectionFactorPP
   }
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  ///
   /// Serialization function
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -295,6 +296,7 @@ class GTSAM_UNSTABLE_EXPORT SmartStereoProjectionFactorPP
     ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
     ar & BOOST_SERIALIZATION_NVP(K_all_);
   }
+#endif
 };
 // end of class declaration
 
diff --git a/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h b/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h
index 3e8270b25..cce265ab7 100644
--- a/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h
+++ b/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h
@@ -141,6 +141,7 @@ class GTSAM_UNSTABLE_EXPORT SmartStereoProjectionPoseFactor
   Base::Cameras cameras(const Values& values) const override;
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  ///
   /// Serialization function
   friend class boost::serialization::access;
   template <class ARCHIVE>
@@ -148,6 +149,7 @@ class GTSAM_UNSTABLE_EXPORT SmartStereoProjectionPoseFactor
     ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
     ar& BOOST_SERIALIZATION_NVP(K_all_);
   }
+#endif
 
 };  // end of class declaration
 
diff --git a/gtsam_unstable/slam/TransformBtwRobotsUnaryFactor.h b/gtsam_unstable/slam/TransformBtwRobotsUnaryFactor.h
index e269e6506..2a257ff57 100644
--- a/gtsam_unstable/slam/TransformBtwRobotsUnaryFactor.h
+++ b/gtsam_unstable/slam/TransformBtwRobotsUnaryFactor.h
@@ -216,6 +216,7 @@ namespace gtsam {
 
   private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     /** Serialization function */
     friend class boost::serialization::access;
     template<class ARCHIVE>
@@ -224,6 +225,7 @@ namespace gtsam {
           boost::serialization::base_object<Base>(*this));
       //ar & BOOST_SERIALIZATION_NVP(measured_);
     }
+#endif
   }; // \class TransformBtwRobotsUnaryFactor
 
   /// traits
diff --git a/gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h b/gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h
index 315feac9c..c47cf3b7d 100644
--- a/gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h
+++ b/gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h
@@ -414,6 +414,7 @@ namespace gtsam {
 
   private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     /** Serialization function */
     friend class boost::serialization::access;
     template<class ARCHIVE>
@@ -422,6 +423,7 @@ namespace gtsam {
           boost::serialization::base_object<Base>(*this));
       //ar & BOOST_SERIALIZATION_NVP(measured_);
     }
+#endif
   }; // \class TransformBtwRobotsUnaryFactorEM
 
   /// traits
diff --git a/tests/simulated2D.h b/tests/simulated2D.h
index 5334cbf45..f00b35617 100644
--- a/tests/simulated2D.h
+++ b/tests/simulated2D.h
@@ -160,6 +160,7 @@ namespace simulated2D {
     /// Default constructor
     GenericPrior() { }
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION    ///
     /// Serialization function
     friend class boost::serialization::access;
     template<class ARCHIVE>
@@ -167,6 +168,7 @@ namespace simulated2D {
       ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
       ar & BOOST_SERIALIZATION_NVP(measured_);
     }
+#endif
   };
 
   /**
diff --git a/tests/testExpressionFactor.cpp b/tests/testExpressionFactor.cpp
index 4f4891d8a..567e9df5d 100644
--- a/tests/testExpressionFactor.cpp
+++ b/tests/testExpressionFactor.cpp
@@ -695,6 +695,7 @@ public:
   }
 
 private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template <class ARCHIVE>
@@ -704,6 +705,7 @@ private:
         boost::serialization::base_object<Base>(*this));
     ar &BOOST_SERIALIZATION_NVP(measured_);
   }
+#endif
 };
 
 TEST(ExpressionFactor, variadicTemplate) {