From aac277d9492579546855ec1a56ddfd240fed6eb4 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Mon, 6 Feb 2023 01:35:14 -0800
Subject: [PATCH] Remove serialization header

---
 gtsam/navigation/CombinedImuFactor.h      | 3 ++-
 gtsam/nonlinear/AdaptAutoDiff.h           | 3 ---
 gtsam/sfm/DsfTrackGenerator.cpp           | 1 +
 gtsam/sfm/SfmTrack.h                      | 1 -
 gtsam/slam/dataset.h                      | 1 -
 gtsam_unstable/geometry/InvDepthCamera3.h | 5 ++++-
 6 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h
index 94a37c2d2..dc0866045 100644
--- a/gtsam/navigation/CombinedImuFactor.h
+++ b/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
diff --git a/gtsam/nonlinear/AdaptAutoDiff.h b/gtsam/nonlinear/AdaptAutoDiff.h
index b616a0e63..8f67eb379 100644
--- a/gtsam/nonlinear/AdaptAutoDiff.h
+++ b/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 {
 
 /**
diff --git a/gtsam/sfm/DsfTrackGenerator.cpp b/gtsam/sfm/DsfTrackGenerator.cpp
index e82880193..6880138d9 100644
--- a/gtsam/sfm/DsfTrackGenerator.cpp
+++ b/gtsam/sfm/DsfTrackGenerator.cpp
@@ -20,6 +20,7 @@
 
 #include <algorithm>
 #include <iostream>
+#include <iomanip>
 
 namespace gtsam {
 
diff --git a/gtsam/sfm/SfmTrack.h b/gtsam/sfm/SfmTrack.h
index 6ef1f9512..2b494ed7c 100644
--- a/gtsam/sfm/SfmTrack.h
+++ b/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>
 
diff --git a/gtsam/slam/dataset.h b/gtsam/slam/dataset.h
index ad1bb40ef..1ecaade54 100644
--- a/gtsam/slam/dataset.h
+++ b/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>
 
diff --git a/gtsam_unstable/geometry/InvDepthCamera3.h b/gtsam_unstable/geometry/InvDepthCamera3.h
index eb9045dff..45b27efe3 100644
--- a/gtsam_unstable/geometry/InvDepthCamera3.h
+++ b/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 {
 
 /**