Remove serialization header

gtsam/navigation/CombinedImuFactor.h

@@ -27,7 +27,6 @@
 #include <gtsam/navigation/TangentPreintegration.h>
 #include <gtsam/nonlinear/NonlinearFactor.h>
 #include <gtsam/base/Matrix.h>
-#include <gtsam/base/serialization.h>
 
 namespace gtsam {
 
@@ -336,6 +335,7 @@ public:
       OptionalMatrixType H5, OptionalMatrixType H6) const override;
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template <class ARCHIVE>
@@ -345,6 +345,7 @@ public:
         "NoiseModelFactor6", boost::serialization::base_object<Base>(*this));
     ar& BOOST_SERIALIZATION_NVP(_PIM_);
   }
+#endif
 
 public:
   GTSAM_MAKE_ALIGNED_OPERATOR_NEW

gtsam/nonlinear/AdaptAutoDiff.h

@@ -22,9 +22,6 @@
 #include <gtsam/base/OptionalJacobian.h>
 #include <gtsam/3rdparty/ceres/autodiff.h>
 
-#include <boost/static_assert.hpp>
-#include <boost/type_traits/is_base_of.hpp>
-
 namespace gtsam {
 
 /**

gtsam/sfm/DsfTrackGenerator.cpp

@@ -20,6 +20,7 @@
 
 #include <algorithm>
 #include <iostream>
+#include <iomanip>
 
 namespace gtsam {
 

gtsam/sfm/SfmTrack.h

@@ -18,7 +18,6 @@
 
 #pragma once
 
-#include <gtsam/base/serialization.h>
 #include <gtsam/geometry/Point2.h>
 #include <gtsam/geometry/Point3.h>
 

gtsam/slam/dataset.h

@@ -30,7 +30,6 @@
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/Values.h>
 #include <gtsam/linear/NoiseModel.h>
-#include <gtsam/base/serialization.h>
 #include <gtsam/base/Testable.h>
 #include <gtsam/base/types.h>
 

gtsam_unstable/geometry/InvDepthCamera3.h

@@ -12,7 +12,6 @@
 #pragma once
 
 #include <cmath>
-#include <boost/serialization/nvp.hpp>
 #include <gtsam/base/Vector.h>
 #include <gtsam/base/Matrix.h>
 #include <gtsam/geometry/Point2.h>
@@ -20,6 +19,10 @@
 #include <gtsam/geometry/PinholeCamera.h>
 #include <gtsam/nonlinear/NonlinearFactor.h>
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+#include <boost/serialization/nvp.hpp>
+#endif
+
 namespace gtsam {
 
 /**