gtsam compiles and tests run with and without boost serialization

gtsam/base/ConcurrentMap.h

@@ -113,7 +113,6 @@ private:
     std::copy(this->begin(), this->end(), map.begin());
     ar & BOOST_SERIALIZATION_NVP(map);
   }
-#endif
   template<class Archive>
   void load(Archive& ar, const unsigned int /*version*/)
   {
@@ -124,6 +123,7 @@ private:
     this->insert(map.begin(), map.end());
   }
   BOOST_SERIALIZATION_SPLIT_MEMBER()
+#endif
 };
 
 }

gtsam/base/MatrixSerialization.h

@@ -18,6 +18,8 @@
 
 // \callgraph
 
+// Defined only if boost serialization is enabled
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #pragma once
 
 #include <gtsam/base/Matrix.h>
@@ -87,3 +89,4 @@ void serialize(Archive& ar, gtsam::Matrix& m, const unsigned int version) {
 
 }  // namespace serialization
 }  // namespace boost
+#endif

gtsam/base/Value.h

@@ -132,4 +132,6 @@ namespace gtsam {
 
 } /* namespace gtsam */
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 BOOST_SERIALIZATION_ASSUME_ABSTRACT(gtsam::Value)
+#endif

gtsam/base/VectorSerialization.h

@@ -16,6 +16,8 @@
  * @date    February 2022
  */
 
+// Defined only if boost serialization is enabled
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #pragma once
 
 #include <gtsam/base/Vector.h>
@@ -63,3 +65,4 @@ BOOST_SERIALIZATION_SPLIT_FREE(gtsam::Vector)
 BOOST_SERIALIZATION_SPLIT_FREE(gtsam::Vector2)
 BOOST_SERIALIZATION_SPLIT_FREE(gtsam::Vector3)
 BOOST_SERIALIZATION_SPLIT_FREE(gtsam::Vector6)
+#endif

gtsam/base/serializationTestHelpers.h

@@ -17,6 +17,7 @@
  * @date Feb 7, 2012
  */
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #pragma once
 
 #include <iostream>
@@ -175,3 +176,4 @@ bool equalsDereferencedBinary(const T& input = T()) {
 
 } // \namespace serializationTestHelpers
 } // \namespace gtsam
+#endif

gtsam/base/std_optional_serialization.h

@@ -9,6 +9,8 @@
 * Inspired from this PR: https://github.com/boostorg/serialization/pull/163
 * ---------------------------------------------------------------------------- */
 
+// Defined only if boost serialization is enabled
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #pragma once
 #include <optional>
 #include <boost/config.hpp>
@@ -97,4 +99,4 @@ void serialize(Archive& ar, std::optional<T>& t, const unsigned int version) {
 
 }  // namespace serialization
 }  // namespace boost
-
+#endif

gtsam/base/timing.h

@@ -23,6 +23,7 @@
 
 #include <boost/version.hpp>
 
+#include <memory>
 #include <cstddef>
 #include <string>
 

gtsam/discrete/DecisionTree-inl.h

@@ -445,6 +445,7 @@ namespace gtsam {
    private:
     using Base = DecisionTree<L, Y>::Node;
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     /** Serialization function */
     friend class boost::serialization::access;
     template <class ARCHIVE>
@@ -454,6 +455,7 @@ namespace gtsam {
       ar& BOOST_SERIALIZATION_NVP(branches_);
       ar& BOOST_SERIALIZATION_NVP(allSame_);
     }
+#endif
   };  // Choice
 
   /****************************************************************************/

gtsam/discrete/DecisionTree.h

@@ -378,12 +378,14 @@ namespace gtsam {
     /// @}
 
    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_NVP(root_);
     }
+#endif
   };  // DecisionTree
 
   template <class L, class Y>

gtsam/discrete/tests/CMakeLists.txt

@@ -1,7 +1,7 @@
 # if GTSAM_ENABLE_BOOST_SERIALIZATION is OFF then exclude some tests
 if (NOT GTSAM_ENABLE_BOOST_SERIALIZATION)
   # create a semicolon seperated list of files to exclude
-  set(EXCLUDE_TESTS "testSerializationDiscrete.cpp")
+  set(EXCLUDE_TESTS "testSerializationDiscrete.cpp" "testDiscreteFactor.cpp")
 else()
   set(EXCLUDE_TESTS "")
 endif()

gtsam/geometry/Cal3Bundler.h

@@ -156,8 +156,8 @@ class GTSAM_EXPORT Cal3Bundler : public Cal3 {
   /// @name Advanced Interface
   /// @{
 
-  /** Serialization function */
 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+  /** Serialization function */
   friend class boost::serialization::access;
   template <class Archive>
   void serialize(Archive& ar, const unsigned int /*version*/) {

gtsam/geometry/CalibratedCamera.h

@@ -416,6 +416,7 @@ private:
   /// @name Advanced Interface
   /// @{
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class Archive>
@@ -424,6 +425,7 @@ private:
         & boost::serialization::make_nvp("PinholeBase",
             boost::serialization::base_object<PinholeBase>(*this));
   }
+#endif
 
   /// @}
 };

gtsam/geometry/PinholePose.h

@@ -431,6 +431,7 @@ public:
 
 private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class Archive>
@@ -440,6 +441,7 @@ private:
             boost::serialization::base_object<Base>(*this));
     ar & BOOST_SERIALIZATION_NVP(K_);
   }
+#endif
 
 public:
   GTSAM_MAKE_ALIGNED_OPERATOR_NEW

gtsam/geometry/SO3.h

@@ -99,6 +99,7 @@ template <>
 GTSAM_EXPORT
 Vector9 SO3::vec(OptionalJacobian<9, 3> H) const;
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 template <class Archive>
 /** Serialization function */
 void serialize(Archive& ar, SO3& R, const unsigned int /*version*/) {
@@ -113,6 +114,7 @@ void serialize(Archive& ar, SO3& R, const unsigned int /*version*/) {
   ar& boost::serialization::make_nvp("R32", M(2, 1));
   ar& boost::serialization::make_nvp("R33", M(2, 2));
 }
+#endif
 
 namespace so3 {
 

gtsam/geometry/SO4.h

@@ -78,6 +78,7 @@ GTSAM_EXPORT Matrix3 topLeft(const SO4 &Q, OptionalJacobian<9, 6> H = {});
  */
 GTSAM_EXPORT Matrix43 stiefel(const SO4 &Q, OptionalJacobian<12, 6> H = {});
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 template <class Archive>
 /** Serialization function */
 void serialize(Archive &ar, SO4 &Q, const unsigned int /*version*/) {
@@ -102,6 +103,7 @@ void serialize(Archive &ar, SO4 &Q, const unsigned int /*version*/) {
   ar &boost::serialization::make_nvp("Q43", M(3, 2));
   ar &boost::serialization::make_nvp("Q44", M(3, 3));
 }
+#endif
 
 /*
  * Define the traits. internal::LieGroup provides both Lie group and Testable

gtsam/geometry/SphericalCamera.h

@@ -223,12 +223,14 @@ class GTSAM_EXPORT SphericalCamera {
   static size_t Dim() { return 6; }
 
  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_NVP(pose_);
   }
+#endif
 
  public:
   GTSAM_MAKE_ALIGNED_OPERATOR_NEW

gtsam/geometry/tests/testBearingRange.cpp

@@ -25,7 +25,6 @@
 
 using namespace std;
 using namespace gtsam;
-using namespace serializationTestHelpers;
 
 typedef BearingRange<Pose2, Point2> BearingRange2D;
 BearingRange2D br2D(1, 2);
@@ -45,13 +44,6 @@ TEST(BearingRange, 2D) {
   EXPECT(assert_equal(expected, actual));
 }
 
-/* ************************************************************************* */
-TEST(BearingRange, Serialization2D) {
-  EXPECT(equalsObj<BearingRange2D>(br2D));
-  EXPECT(equalsXML<BearingRange2D>(br2D));
-  EXPECT(equalsBinary<BearingRange2D>(br2D));
-}
-
 //******************************************************************************
 TEST(BearingRange3D, Concept) {
   BOOST_CONCEPT_ASSERT((IsManifold<BearingRange3D>));
@@ -64,12 +56,22 @@ TEST(BearingRange, 3D) {
   EXPECT(assert_equal(expected, actual));
 }
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+using namespace serializationTestHelpers;
+/* ************************************************************************* */
+TEST(BearingRange, Serialization2D) {
+  EXPECT(equalsObj<BearingRange2D>(br2D));
+  EXPECT(equalsXML<BearingRange2D>(br2D));
+  EXPECT(equalsBinary<BearingRange2D>(br2D));
+}
+
 /* ************************************************************************* */
 TEST(BearingRange, Serialization3D) {
   EXPECT(equalsObj<BearingRange3D>(br3D));
   EXPECT(equalsXML<BearingRange3D>(br3D));
   EXPECT(equalsBinary<BearingRange3D>(br3D));
 }
+#endif
 
 /* ************************************************************************* */
 int main() {

gtsam/geometry/tests/testUnit3.cpp

@@ -499,12 +499,14 @@ TEST(Unit3, CopyAssign) {
 }
 
 /* ************************************************************************* */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 TEST(actualH, Serialization) {
   Unit3 p(0, 1, 0);
   EXPECT(serializationTestHelpers::equalsObj(p));
   EXPECT(serializationTestHelpers::equalsXML(p));
   EXPECT(serializationTestHelpers::equalsBinary(p));
 }
+#endif
 
 
 /* ************************************************************************* */

gtsam/geometry/triangulation.h

@@ -676,12 +676,14 @@ class TriangulationResult : public std::optional<Point3> {
   }
 
  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_NVP(status);
   }
+#endif
 };
 
 /// triangulateSafe: extensive checking of the outcome

gtsam/linear/JacobianFactor.h

@@ -435,7 +435,6 @@ namespace gtsam {
         ar << BOOST_SERIALIZATION_NVP(model_);
       }
     }
-#endif
 
     template<class ARCHIVE>
     void load(ARCHIVE & ar, const unsigned int version) {
@@ -454,6 +453,7 @@ namespace gtsam {
     }
 
     BOOST_SERIALIZATION_SPLIT_MEMBER()
+#endif
   }; // JacobianFactor
 /// traits
 template<>
@@ -462,7 +462,9 @@ struct traits<JacobianFactor> : public Testable<JacobianFactor> {
 
 } // \ namespace gtsam
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 BOOST_CLASS_VERSION(gtsam::JacobianFactor, 1)
+#endif
 
 #include <gtsam/linear/JacobianFactor-inl.h>
 

gtsam/linear/LossFunctions.h

@@ -162,12 +162,14 @@ class GTSAM_EXPORT Null : public Base {
   static shared_ptr Create();
 
  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
 };
 
 /** Implementation of the "Fair" robust error model (Zhang97ivc)
@@ -194,6 +196,7 @@ class GTSAM_EXPORT Fair : public Base {
   double modelParameter() const { return c_; }
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template <class ARCHIVE>
@@ -201,6 +204,7 @@ class GTSAM_EXPORT Fair : public Base {
     ar &BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
     ar &BOOST_SERIALIZATION_NVP(c_);
   }
+#endif
 };
 
 /** The "Huber" robust error model (Zhang97ivc).
@@ -227,6 +231,7 @@ class GTSAM_EXPORT Huber : public Base {
   double modelParameter() const { return k_; }
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template <class ARCHIVE>
@@ -234,6 +239,7 @@ class GTSAM_EXPORT Huber : public Base {
     ar &BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
     ar &BOOST_SERIALIZATION_NVP(k_);
   }
+#endif
 };
 
 /** Implementation of the "Cauchy" robust error model (Lee2013IROS).
@@ -265,6 +271,7 @@ class GTSAM_EXPORT Cauchy : public Base {
   double modelParameter() const { return k_; }
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template <class ARCHIVE>
@@ -273,6 +280,7 @@ class GTSAM_EXPORT Cauchy : public Base {
     ar &BOOST_SERIALIZATION_NVP(k_);
     ar &BOOST_SERIALIZATION_NVP(ksquared_);
   }
+#endif
 };
 
 /** Implementation of the "Tukey" robust error model (Zhang97ivc).
@@ -299,6 +307,7 @@ class GTSAM_EXPORT Tukey : public Base {
   double modelParameter() const { return c_; }
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template <class ARCHIVE>
@@ -306,6 +315,7 @@ class GTSAM_EXPORT Tukey : public Base {
     ar &BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
     ar &BOOST_SERIALIZATION_NVP(c_);
   }
+#endif
 };
 
 /** Implementation of the "Welsch" robust error model (Zhang97ivc).
@@ -332,6 +342,7 @@ class GTSAM_EXPORT Welsch : public Base {
   double modelParameter() const { return c_; }
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template <class ARCHIVE>
@@ -340,6 +351,7 @@ class GTSAM_EXPORT Welsch : public Base {
     ar &BOOST_SERIALIZATION_NVP(c_);
     ar &BOOST_SERIALIZATION_NVP(csquared_);
   }
+#endif
 };
 
 /** Implementation of the "Geman-McClure" robust error model (Zhang97ivc).
@@ -369,6 +381,7 @@ class GTSAM_EXPORT GemanMcClure : public Base {
   double c_;
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template <class ARCHIVE>
@@ -376,6 +389,7 @@ class GTSAM_EXPORT GemanMcClure : public Base {
     ar &BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
     ar &BOOST_SERIALIZATION_NVP(c_);
   }
+#endif
 };
 
 /** DCS implements the Dynamic Covariance Scaling robust error model
@@ -407,6 +421,7 @@ class GTSAM_EXPORT DCS : public Base {
   double c_;
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template <class ARCHIVE>
@@ -414,6 +429,7 @@ class GTSAM_EXPORT DCS : public Base {
     ar &BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
     ar &BOOST_SERIALIZATION_NVP(c_);
   }
+#endif
 };
 
 /** L2WithDeadZone implements a standard L2 penalty, but with a dead zone of
@@ -445,6 +461,7 @@ class GTSAM_EXPORT L2WithDeadZone : public Base {
   double modelParameter() const { return k_; }
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template <class ARCHIVE>
@@ -452,6 +469,7 @@ class GTSAM_EXPORT L2WithDeadZone : public Base {
     ar &BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
     ar &BOOST_SERIALIZATION_NVP(k_);
   }
+#endif
 };
 
 }  // namespace mEstimator

gtsam/linear/NoiseModel.h

@@ -267,6 +267,7 @@ namespace gtsam {
       virtual Matrix covariance() const;
 
     private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
       /** Serialization function */
       friend class boost::serialization::access;
       template<class ARCHIVE>
@@ -274,7 +275,7 @@ namespace gtsam {
         ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
         ar & BOOST_SERIALIZATION_NVP(sqrt_information_);
       }
-
+#endif
     }; // Gaussian
 
     //---------------------------------------------------------------------------------------
@@ -362,6 +363,7 @@ namespace gtsam {
       }
 
     private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
       /** Serialization function */
       friend class boost::serialization::access;
       template<class ARCHIVE>
@@ -370,6 +372,7 @@ namespace gtsam {
         ar & BOOST_SERIALIZATION_NVP(sigmas_);
         ar & BOOST_SERIALIZATION_NVP(invsigmas_);
       }
+#endif
     }; // Diagonal
 
     //---------------------------------------------------------------------------------------
@@ -517,6 +520,7 @@ namespace gtsam {
       shared_ptr unit() const;
 
     private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
       /** Serialization function */
       friend class boost::serialization::access;
       template<class ARCHIVE>
@@ -524,6 +528,7 @@ namespace gtsam {
         ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Diagonal);
         ar & BOOST_SERIALIZATION_NVP(mu_);
       }
+#endif
 
     }; // Constrained
 
@@ -585,6 +590,7 @@ namespace gtsam {
       inline double sigma() const { return sigma_; }
 
     private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
       /** Serialization function */
       friend class boost::serialization::access;
       template<class ARCHIVE>
@@ -593,6 +599,7 @@ namespace gtsam {
         ar & BOOST_SERIALIZATION_NVP(sigma_);
         ar & BOOST_SERIALIZATION_NVP(invsigma_);
       }
+#endif
 
     };
 
@@ -634,12 +641,14 @@ namespace gtsam {
       void unwhitenInPlace(Eigen::Block<Vector>& /*v*/) const override {}
 
     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(Isotropic);
       }
+#endif
     };
 
     /**
@@ -727,6 +736,7 @@ namespace gtsam {
         const RobustModel::shared_ptr &robust, const NoiseModel::shared_ptr noise);
 
     private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
       /** Serialization function */
       friend class boost::serialization::access;
       template<class ARCHIVE>
@@ -735,6 +745,7 @@ namespace gtsam {
         ar & boost::serialization::make_nvp("robust_", const_cast<RobustModel::shared_ptr&>(robust_));
         ar & boost::serialization::make_nvp("noise_", const_cast<NoiseModel::shared_ptr&>(noise_));
       }
+#endif
     };
 
     // Helper function

gtsam/linear/SubgraphBuilder.cpp

@@ -93,6 +93,7 @@ vector<size_t> Subgraph::edgeIndices() const {
   return eid;
 }
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 /****************************************************************************/
 void Subgraph::save(const std::string &fn) const {
   std::ofstream os(fn.c_str());
@@ -110,6 +111,7 @@ Subgraph Subgraph::load(const std::string &fn) {
   is.close();
   return subgraph;
 }
+#endif
 
 /****************************************************************************/
 ostream &operator<<(ostream &os, const Subgraph::Edge &edge) {

gtsam/linear/SubgraphBuilder.h

@@ -84,16 +84,18 @@ class GTSAM_EXPORT Subgraph {
   iterator end() { return edges_.end(); }
   const_iterator end() const { return edges_.end(); }
 
-  void save(const std::string &fn) const;
-  static Subgraph load(const std::string &fn);
   friend std::ostream &operator<<(std::ostream &os, const Subgraph &subgraph);
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   template <class Archive>
   void serialize(Archive &ar, const unsigned int /*version*/) {
     ar &BOOST_SERIALIZATION_NVP(edges_);
   }
+  void save(const std::string &fn) const;
+  static Subgraph load(const std::string &fn);
+#endif
 };
 
 /****************************************************************************/

gtsam/navigation/AHRSFactor.h

@@ -208,6 +208,7 @@ public:
 
 private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -218,6 +219,7 @@ private:
             boost::serialization::base_object<Base>(*this));
     ar & BOOST_SERIALIZATION_NVP(_PIM_);
   }
+#endif
 
 };
 // AHRSFactor

gtsam/navigation/AttitudeFactor.h

@@ -132,6 +132,7 @@ public:
 
 private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -142,6 +143,7 @@ private:
     ar & boost::serialization::make_nvp("AttitudeFactor",
         boost::serialization::base_object<AttitudeFactor>(*this));
   }
+#endif
 
 public:
   GTSAM_MAKE_ALIGNED_OPERATOR_NEW
@@ -215,6 +217,7 @@ public:
 
 private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -225,6 +228,7 @@ private:
     ar & boost::serialization::make_nvp("AttitudeFactor",
         boost::serialization::base_object<AttitudeFactor>(*this));
   }
+#endif
 
 public:
   GTSAM_MAKE_ALIGNED_OPERATOR_NEW

gtsam/navigation/CombinedImuFactor.h

@@ -225,6 +225,7 @@ public:
   /// @}
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  ///
   /// Serialization function
   friend class boost::serialization::access;
   template <class ARCHIVE>
@@ -233,6 +234,7 @@ public:
     ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegrationType);
     ar& BOOST_SERIALIZATION_NVP(preintMeasCov_);
   }
+#endif
 
 public:
   GTSAM_MAKE_ALIGNED_OPERATOR_NEW

gtsam/navigation/GPSFactor.h

@@ -166,6 +166,7 @@ public:
 
 private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /// Serialization function
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -176,6 +177,7 @@ private:
             boost::serialization::base_object<Base>(*this));
     ar & BOOST_SERIALIZATION_NVP(nT_);
   }
+#endif
 };
 
 } /// namespace gtsam

gtsam/navigation/ImuFactor.h

@@ -248,6 +248,7 @@ 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*/) {
@@ -256,6 +257,7 @@ public:
          boost::serialization::base_object<Base>(*this));
     ar & BOOST_SERIALIZATION_NVP(_PIM_);
   }
+#endif
 };
 // class ImuFactor
 

gtsam/navigation/PreintegratedRotation.h

@@ -181,6 +181,7 @@ class GTSAM_EXPORT PreintegratedRotation {
   /// @}
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template <class ARCHIVE>
@@ -190,6 +191,7 @@ class GTSAM_EXPORT PreintegratedRotation {
     ar& BOOST_SERIALIZATION_NVP(deltaRij_);
     ar& BOOST_SERIALIZATION_NVP(delRdelBiasOmega_);
   }
+#endif
 
 #ifdef GTSAM_USE_QUATERNIONS
   // Align if we are using Quaternions

gtsam/nonlinear/FunctorizedFactor.h

@@ -231,6 +231,7 @@ class FunctorizedFactor2 : public NoiseModelFactorN<T1, T2> {
   /// @}
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template <class ARCHIVE>
@@ -241,6 +242,7 @@ class FunctorizedFactor2 : public NoiseModelFactorN<T1, T2> {
     ar &BOOST_SERIALIZATION_NVP(measured_);
     ar &BOOST_SERIALIZATION_NVP(func_);
   }
+#endif
 };
 
 /// traits

gtsam/nonlinear/NonlinearEquality.h

@@ -275,6 +275,7 @@ public:
 
 private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  ///
   /// Serialization function
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -285,6 +286,7 @@ private:
             boost::serialization::base_object<Base>(*this));
     ar & BOOST_SERIALIZATION_NVP(value_);
   }
+#endif
 };
 // \NonlinearEquality1
 

gtsam/nonlinear/NonlinearFactor.h

@@ -717,6 +717,7 @@ protected:
     }
   }
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template <class ARCHIVE>
@@ -724,6 +725,7 @@ protected:
     ar& boost::serialization::make_nvp(
         "NoiseModelFactor", boost::serialization::base_object<Base>(*this));
   }
+#endif
 
  public:
   /// @name Shortcut functions `key1()` -> `key<1>()`

gtsam/nonlinear/tests/CMakeLists.txt

@@ -1 +1,9 @@
-gtsamAddTestsGlob(nonlinear "test*.cpp" "" "gtsam")
+# if GTSAM_ENABLE_BOOST_SERIALIZATION is OFF then exclude some tests
+if (NOT GTSAM_ENABLE_BOOST_SERIALIZATION)
+  # create a semicolon seperated list of files to exclude
+  set(EXCLUDE_TESTS "testSerializationNonlinear.cpp")
+else()
+  set(EXCLUDE_TESTS "")
+endif()
+
+gtsamAddTestsGlob(discrete "test*.cpp" "${EXCLUDE_TESTS}" "gtsam")

gtsam/sam/RangeFactor.h

@@ -164,6 +164,7 @@ class RangeFactorWithTransform : public ExpressionFactorN<T, A1, A2> {
   }
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   /** Serialization function */
   template <typename ARCHIVE>
@@ -175,6 +176,7 @@ class RangeFactorWithTransform : public ExpressionFactorN<T, A1, A2> {
     ar& boost::serialization::make_nvp(
         "Base", boost::serialization::base_object<Base>(*this));
   }
+#endif
 };  // \ RangeFactorWithTransform
 
 /// traits

gtsam/slam/BetweenFactor.h

@@ -176,12 +176,14 @@ namespace gtsam {
   private:
 
     /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     friend class boost::serialization::access;
     template<class ARCHIVE>
     void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
       ar & boost::serialization::make_nvp("BetweenFactor",
           boost::serialization::base_object<BetweenFactor<VALUE> >(*this));
     }
+#endif
   }; // \class BetweenConstraint
 
   /// traits

gtsam/slam/BoundingConstraint.h

@@ -161,6 +161,7 @@ struct BoundingConstraint2: public NoiseModelFactorN<VALUE1, VALUE2> {
 
 private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -171,6 +172,7 @@ private:
     ar & BOOST_SERIALIZATION_NVP(threshold_);
     ar & BOOST_SERIALIZATION_NVP(isGreaterThan_);
   }
+#endif
 };
 
 } // \namespace gtsam

gtsam/slam/GeneralSFMFactor.h

@@ -284,6 +284,7 @@ public:
   }
 
 private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class Archive>
@@ -293,6 +294,7 @@ private:
         boost::serialization::base_object<Base>(*this));
     ar & BOOST_SERIALIZATION_NVP(measured_);
   }
+#endif
 };
 
 template<class CALIBRATION>

gtsam/slam/tests/CMakeLists.txt

@@ -1,7 +1,8 @@
 # if GTSAM_ENABLE_BOOST_SERIALIZATION is OFF then exclude some tests
 if (NOT GTSAM_ENABLE_BOOST_SERIALIZATION)
   # create a semicolon seperated list of files to exclude
-  set(EXCLUDE_TESTS "testSerializationDatataset.cpp" "testSerializationInSlam.cpp")
+  set(EXCLUDE_TESTS "testSerializationDataset.cpp" "testSerializationInSlam.cpp")
+  message(STATUS "Excluding tests: ${EXCLUDE_TESTS}")
 else()
   set(EXCLUDE_TESTS "")
 endif()

gtsam_unstable/nonlinear/LinearizedFactor.h

@@ -148,6 +148,7 @@ public:
   Vector error_vector(const Values& c) const;
 
 private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   /** Serialization function */
   template<class ARCHIVE>
@@ -156,6 +157,7 @@ private:
         boost::serialization::base_object<Base>(*this));
     ar & BOOST_SERIALIZATION_NVP(Ab_);
   }
+#endif
 };
 
 /// traits
@@ -277,6 +279,7 @@ 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*/) {
@@ -284,6 +287,7 @@ private:
         boost::serialization::base_object<Base>(*this));
     ar & BOOST_SERIALIZATION_NVP(info_);
   }
+#endif
 };
 
 /// traits

gtsam_unstable/slam/InvDepthFactorVariant3.h

@@ -139,8 +139,8 @@ public:
 
 private:
 
-  /// Serialization function
 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  ///
+  /// Serialization function
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
@@ -271,6 +271,7 @@ public:
 
 private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
   /// Serialization function
   template<class ARCHIVE>
@@ -279,6 +280,7 @@ private:
     ar & BOOST_SERIALIZATION_NVP(measured_);
     ar & BOOST_SERIALIZATION_NVP(K_);
   }
+#endif
 };
 
 } // \ namespace gtsam

tests/simulated2D.h

@@ -210,6 +210,7 @@ namespace simulated2D {
     /// Default constructor
     GenericOdometry() { }
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION    ///
     /// Serialization function
     friend class boost::serialization::access;
     template<class ARCHIVE>
@@ -217,6 +218,7 @@ namespace simulated2D {
       ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
       ar & BOOST_SERIALIZATION_NVP(measured_);
     }
+#endif
   };
 
   /**
@@ -259,6 +261,7 @@ namespace simulated2D {
     /// Default constructor
     GenericMeasurement() { }
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION    ///
     /// Serialization function
     friend class boost::serialization::access;
     template<class ARCHIVE>
@@ -266,6 +269,7 @@ namespace simulated2D {
       ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
       ar & BOOST_SERIALIZATION_NVP(measured_);
     }
+#endif
   };
 
   /** Typedefs for regular use */