diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml
index dabdff7f9..99b654b3a 100644
--- a/.github/workflows/build-windows.yml
+++ b/.github/workflows/build-windows.yml
@@ -101,23 +101,31 @@ jobs:
         run: |
           # Since Visual Studio is a multi-generator, we need to use --config
           # https://stackoverflow.com/a/24470998/1236990
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target gtsam
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target gtsam_unstable
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target wrap
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target gtsam
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target gtsam_unstable
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target wrap
 
           # Run GTSAM tests
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.base
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.basis
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.discrete
-          #cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.geometry
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.inference
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.linear
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.navigation
-          #cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.nonlinear
-          #cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.sam
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.sfm
-          #cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.slam
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.symbolic
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.base
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.basis
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.discrete
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.geometry
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.inference
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.linear
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.navigation
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.sam
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.sfm
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.symbolic
+          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.hybrid
+          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear
+          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam
 
           # Run GTSAM_UNSTABLE tests
-          #cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.base_unstable
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.base_unstable
+          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.geometry_unstable
+          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.linear_unstable
+          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.discrete_unstable
+          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.dynamics_unstable
+          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear_unstable
+          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam_unstable
+          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.partition
diff --git a/gtsam/discrete/TableFactor.cpp b/gtsam/discrete/TableFactor.cpp
index acb59a8be..5fe3cd9d1 100644
--- a/gtsam/discrete/TableFactor.cpp
+++ b/gtsam/discrete/TableFactor.cpp
@@ -21,7 +21,6 @@
 #include <gtsam/discrete/TableFactor.h>
 #include <gtsam/hybrid/HybridValues.h>
 
-#include <boost/format.hpp>
 #include <utility>
 
 using namespace std;
@@ -203,7 +202,7 @@ void TableFactor::print(const string& s, const KeyFormatter& formatter) const {
   cout << s;
   cout << " f[";
   for (auto&& key : keys())
-    cout << boost::format(" (%1%,%2%),") % formatter(key) % cardinality(key);
+    cout << " (" << formatter(key) << "," << cardinality(key) << "),";
   cout << " ]" << endl;
   for (SparseIt it(sparse_table_); it; ++it) {
     DiscreteValues assignment = findAssignments(it.index());
diff --git a/gtsam/geometry/CameraSet.h b/gtsam/geometry/CameraSet.h
index 23a4b467e..8621d77ad 100644
--- a/gtsam/geometry/CameraSet.h
+++ b/gtsam/geometry/CameraSet.h
@@ -131,12 +131,15 @@ class CameraSet : public std::vector<CAMERA, Eigen::aligned_allocator<CAMERA>> {
     return z;
   }
 
-  /** An overload o the project2 function to accept
+  /** An overload of the project2 function to accept
    * full matrices and vectors and pass it to the pointer
-   * version of the function
+   * version of the function.
+   *
+   * Use SFINAE to resolve overload ambiguity.
    */
   template <class POINT, class... OptArgs>
-  ZVector project2(const POINT& point, OptArgs&... args) const {
+  typename std::enable_if<(sizeof...(OptArgs) != 0), ZVector>::type project2(
+      const POINT& point, OptArgs&... args) const {
     // pass it to the pointer version of the function
     return project2(point, (&args)...);
   }
@@ -270,7 +273,7 @@ class CameraSet : public std::vector<CAMERA, Eigen::aligned_allocator<CAMERA>> {
 
       // Get map from key to location in the new augmented Hessian matrix (the
       // one including only unique keys).
-      std::map<Key, size_t> keyToSlotMap;
+      std::map<Key, uint32_t> keyToSlotMap;
       for (size_t k = 0; k < nrUniqueKeys; k++) {
         keyToSlotMap[hessianKeys[k]] = k;
       }
diff --git a/gtsam/geometry/Pose2.h b/gtsam/geometry/Pose2.h
index b455a81c3..aad81493f 100644
--- a/gtsam/geometry/Pose2.h
+++ b/gtsam/geometry/Pose2.h
@@ -36,7 +36,7 @@ namespace gtsam {
  * @ingroup geometry
  * \nosubgrouping
  */
-class Pose2: public LieGroup<Pose2, 3> {
+class GTSAM_EXPORT Pose2: public LieGroup<Pose2, 3> {
 
 public:
 
@@ -112,10 +112,10 @@ public:
   /// @{
 
   /** print with optional string */
-  GTSAM_EXPORT void print(const std::string& s = "") const;
+  void print(const std::string& s = "") const;
 
   /** assert equality up to a tolerance */
-  GTSAM_EXPORT bool equals(const Pose2& pose, double tol = 1e-9) const;
+  bool equals(const Pose2& pose, double tol = 1e-9) const;
 
   /// @}
   /// @name Group
@@ -125,7 +125,7 @@ public:
   inline static Pose2 Identity() { return Pose2(); }
 
   /// inverse
-  GTSAM_EXPORT Pose2 inverse() const;
+  Pose2 inverse() const;
 
   /// compose syntactic sugar
   inline Pose2 operator*(const Pose2& p2) const {
@@ -137,16 +137,16 @@ public:
   /// @{
 
   ///Exponential map at identity - create a rotation from canonical coordinates \f$ [T_x,T_y,\theta] \f$
-  GTSAM_EXPORT static Pose2 Expmap(const Vector3& xi, ChartJacobian H = {});
+  static Pose2 Expmap(const Vector3& xi, ChartJacobian H = {});
 
   ///Log map at identity - return the canonical coordinates \f$ [T_x,T_y,\theta] \f$ of this rotation
-  GTSAM_EXPORT static Vector3 Logmap(const Pose2& p, ChartJacobian H = {});
+  static Vector3 Logmap(const Pose2& p, ChartJacobian H = {});
 
   /**
    * Calculate Adjoint map
    * Ad_pose is 3*3 matrix that when applied to twist xi \f$ [T_x,T_y,\theta] \f$, returns Ad_pose(xi)
    */
-  GTSAM_EXPORT Matrix3 AdjointMap() const;
+  Matrix3 AdjointMap() const;
 
   /// Apply AdjointMap to twist xi
   inline Vector3 Adjoint(const Vector3& xi) const {
@@ -156,7 +156,7 @@ public:
   /**
    * Compute the [ad(w,v)] operator for SE2 as in [Kobilarov09siggraph], pg 19
    */
-  GTSAM_EXPORT static Matrix3 adjointMap(const Vector3& v);
+  static Matrix3 adjointMap(const Vector3& v);
 
   /**
    * Action of the adjointMap on a Lie-algebra vector y, with optional derivatives
@@ -192,10 +192,10 @@ public:
   }
 
   /// Derivative of Expmap
-  GTSAM_EXPORT static Matrix3 ExpmapDerivative(const Vector3& v);
+  static Matrix3 ExpmapDerivative(const Vector3& v);
 
   /// Derivative of Logmap
-  GTSAM_EXPORT static Matrix3 LogmapDerivative(const Pose2& v);
+  static Matrix3 LogmapDerivative(const Pose2& v);
 
   // Chart at origin, depends on compile-time flag SLOW_BUT_CORRECT_EXPMAP
   struct GTSAM_EXPORT ChartAtOrigin {
@@ -210,7 +210,7 @@ public:
   /// @{
 
   /** Return point coordinates in pose coordinate frame */
-  GTSAM_EXPORT Point2 transformTo(const Point2& point,
+  Point2 transformTo(const Point2& point,
       OptionalJacobian<2, 3> Dpose = {},
       OptionalJacobian<2, 2> Dpoint = {}) const;
 
@@ -222,7 +222,7 @@ public:
   Matrix transformTo(const Matrix& points) const;
 
   /** Return point coordinates in global frame */
-  GTSAM_EXPORT Point2 transformFrom(const Point2& point,
+  Point2 transformFrom(const Point2& point,
       OptionalJacobian<2, 3> Dpose = {},
       OptionalJacobian<2, 2> Dpoint = {}) const;
 
@@ -273,14 +273,14 @@ public:
   }
 
   //// return transformation matrix
-  GTSAM_EXPORT Matrix3 matrix() const;
+  Matrix3 matrix() const;
 
   /**
    * Calculate bearing to a landmark
    * @param point 2D location of landmark
    * @return 2D rotation \f$ \in SO(2) \f$
    */
-  GTSAM_EXPORT Rot2 bearing(const Point2& point,
+  Rot2 bearing(const Point2& point,
                OptionalJacobian<1, 3> H1={}, OptionalJacobian<1, 2> H2={}) const;
 
   /**
@@ -288,7 +288,7 @@ public:
    * @param point SO(2) location of other pose
    * @return 2D rotation \f$ \in SO(2) \f$
    */
-  GTSAM_EXPORT Rot2 bearing(const Pose2& pose,
+  Rot2 bearing(const Pose2& pose,
                OptionalJacobian<1, 3> H1={}, OptionalJacobian<1, 3> H2={}) const;
 
   /**
@@ -296,7 +296,7 @@ public:
    * @param point 2D location of landmark
    * @return range (double)
    */
-  GTSAM_EXPORT double range(const Point2& point,
+  double range(const Point2& point,
       OptionalJacobian<1, 3> H1={},
       OptionalJacobian<1, 2> H2={}) const;
 
@@ -305,7 +305,7 @@ public:
    * @param point 2D location of other pose
    * @return range (double)
    */
-  GTSAM_EXPORT double range(const Pose2& point,
+  double range(const Pose2& point,
       OptionalJacobian<1, 3> H1={},
       OptionalJacobian<1, 3> H2={}) const;
 
diff --git a/gtsam/geometry/StereoPoint2.h b/gtsam/geometry/StereoPoint2.h
index bd335dfbb..4383e212e 100644
--- a/gtsam/geometry/StereoPoint2.h
+++ b/gtsam/geometry/StereoPoint2.h
@@ -46,7 +46,9 @@ public:
       uL_(0), uR_(0), v_(0) {
   }
 
-  /** constructor */
+  /** uL and uR represent the x-axis value of left and right frame coordinates respectively.
+      v represents the y coordinate value. The y-axis value should be the same under the
+      stereo constraint. */
   StereoPoint2(double uL, double uR, double v) :
       uL_(uL), uR_(uR), v_(v) {
   }
diff --git a/gtsam/inference/Ordering.h b/gtsam/inference/Ordering.h
index 884a93f0d..0a3b25441 100644
--- a/gtsam/inference/Ordering.h
+++ b/gtsam/inference/Ordering.h
@@ -77,9 +77,11 @@ public:
    * @param keys The key vector to append to this ordering.
    * @return The ordering variable with appended keys.
    */
+  GTSAM_EXPORT
   This& operator+=(KeyVector& keys);
 
   /// Check if key exists in ordering.
+  GTSAM_EXPORT
   bool contains(const Key& key) const;
 
   /**
diff --git a/gtsam_unstable/linear/LP.h b/gtsam_unstable/linear/LP.h
index dbb744d3e..53247be4c 100644
--- a/gtsam_unstable/linear/LP.h
+++ b/gtsam_unstable/linear/LP.h
@@ -29,7 +29,7 @@ namespace gtsam {
 using namespace std;
 
 /// Mapping between variable's key and its corresponding dimensionality
-using KeyDimMap = std::map<Key, size_t>;
+using KeyDimMap = std::map<Key, uint32_t>;
 /*
  * Iterates through every factor in a linear graph and generates a
  * mapping between every factor key and it's corresponding dimensionality.
diff --git a/gtsam_unstable/linear/LPInitSolver.cpp b/gtsam_unstable/linear/LPInitSolver.cpp
index 9f12d670e..3d24f784b 100644
--- a/gtsam_unstable/linear/LPInitSolver.cpp
+++ b/gtsam_unstable/linear/LPInitSolver.cpp
@@ -65,9 +65,7 @@ GaussianFactorGraph::shared_ptr LPInitSolver::buildInitOfInitGraph() const {
       new GaussianFactorGraph(lp_.equalities));
 
   // create factor ||x||^2 and add to the graph
-  const KeyDimMap& constrainedKeyDim = lp_.constrainedKeyDimMap();
-  for (const auto& [key, _] : constrainedKeyDim) {
-    size_t dim = constrainedKeyDim.at(key);
+  for (const auto& [key, dim] : lp_.constrainedKeyDimMap()) {
     initGraph->push_back(
         JacobianFactor(key, Matrix::Identity(dim, dim), Vector::Zero(dim)));
   }
diff --git a/gtsam_unstable/linear/LPInitSolver.h b/gtsam_unstable/linear/LPInitSolver.h
index 7e326117b..9db2a34f0 100644
--- a/gtsam_unstable/linear/LPInitSolver.h
+++ b/gtsam_unstable/linear/LPInitSolver.h
@@ -19,6 +19,7 @@
 
 #pragma once
 
+#include <gtsam_unstable/dllexport.h>
 #include <gtsam_unstable/linear/LP.h>
 #include <gtsam/linear/GaussianFactorGraph.h>
 
@@ -49,7 +50,7 @@ namespace gtsam {
  * inequality constraint, we can't conclude that the problem is infeasible.
  * However, whether it is infeasible or unbounded, we don't have a unique solution anyway.
  */
-class LPInitSolver {
+class GTSAM_UNSTABLE_EXPORT LPInitSolver {
 private:
   const LP& lp_;
 
diff --git a/gtsam_unstable/linear/QPSParser.h b/gtsam_unstable/linear/QPSParser.h
index bd4254d0f..e751f34d2 100644
--- a/gtsam_unstable/linear/QPSParser.h
+++ b/gtsam_unstable/linear/QPSParser.h
@@ -18,12 +18,13 @@
 
 #pragma once
 
+#include <gtsam_unstable/dllexport.h>
 #include <gtsam_unstable/linear/QP.h>
 #include <fstream>
 
 namespace gtsam {
 
-class QPSParser {
+class GTSAM_UNSTABLE_EXPORT QPSParser {
 
 private:
   std::string fileName_;
diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h b/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h
index f9db90953..189c501bb 100644
--- a/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h
+++ b/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h
@@ -201,10 +201,9 @@ class GTSAM_UNSTABLE_EXPORT SmartStereoProjectionFactorPP
   }
 
   /// linearize and return a Hessianfactor that is an approximation of error(p)
-  std::shared_ptr<RegularHessianFactor<DimPose> > createHessianFactor(
-      const Values& values, const double lambda = 0.0, bool diagonalDamping =
-          false) const {
-
+  std::shared_ptr<RegularHessianFactor<DimPose>> createHessianFactor(
+      const Values& values, const double lambda = 0.0,
+      bool diagonalDamping = false) const {
     // we may have multiple cameras sharing the same extrinsic cals, hence the number
     // of keys may be smaller than 2 * nrMeasurements (which is the upper bound where we
     // have a body key and an extrinsic calibration key for each measurement)
@@ -212,23 +211,22 @@ class GTSAM_UNSTABLE_EXPORT SmartStereoProjectionFactorPP
 
     // Create structures for Hessian Factors
     KeyVector js;
-    std::vector < Matrix > Gs(nrUniqueKeys * (nrUniqueKeys + 1) / 2);
+    std::vector<Matrix> Gs(nrUniqueKeys * (nrUniqueKeys + 1) / 2);
     std::vector<Vector> gs(nrUniqueKeys);
 
     if (this->measured_.size() != cameras(values).size())
       throw std::runtime_error("SmartStereoProjectionHessianFactor: this->"
-                               "measured_.size() inconsistent with input");
+          "measured_.size() inconsistent with input");
 
     // triangulate 3D point at given linearization point
     triangulateSafe(cameras(values));
 
-    if (!result_) { // failed: return "empty/zero" Hessian
-      for (Matrix& m : Gs)
-        m = Matrix::Zero(DimPose, DimPose);
-      for (Vector& v : gs)
-        v = Vector::Zero(DimPose);
-      return std::make_shared < RegularHessianFactor<DimPose>
-          > (keys_, Gs, gs, 0.0);
+    // failed: return "empty/zero" Hessian
+    if (!result_) {
+      for (Matrix& m : Gs) m = Matrix::Zero(DimPose, DimPose);
+      for (Vector& v : gs) v = Vector::Zero(DimPose);
+      return std::make_shared<RegularHessianFactor<DimPose>>(keys_, Gs, gs,
+                                                             0.0);
     }
 
     // compute Jacobian given triangulated 3D Point
@@ -239,12 +237,13 @@ class GTSAM_UNSTABLE_EXPORT SmartStereoProjectionFactorPP
 
     // Whiten using noise model
     noiseModel_->WhitenSystem(E, b);
-    for (size_t i = 0; i < Fs.size(); i++)
+    for (size_t i = 0; i < Fs.size(); i++) {
       Fs[i] = noiseModel_->Whiten(Fs[i]);
+    }
 
     // build augmented Hessian (with last row/column being the information vector)
     Matrix3 P;
-    Cameras::ComputePointCovariance <3> (P, E, lambda, diagonalDamping);
+    Cameras::ComputePointCovariance<3>(P, E, lambda, diagonalDamping);
 
     // these are the keys that correspond to the blocks in augmentedHessian (output of SchurComplement)
     KeyVector nonuniqueKeys;
@@ -254,11 +253,12 @@ class GTSAM_UNSTABLE_EXPORT SmartStereoProjectionFactorPP
     }
     // but we need to get the augumented hessian wrt the unique keys in key_
     SymmetricBlockMatrix augmentedHessianUniqueKeys =
-        Cameras::SchurComplementAndRearrangeBlocks<3,DimBlock,DimPose>(Fs,E,P,b,
-                  nonuniqueKeys, keys_);
+        Base::Cameras::template SchurComplementAndRearrangeBlocks<3, DimBlock,
+                                                                  DimPose>(
+            Fs, E, P, b, nonuniqueKeys, keys_);
 
-    return std::make_shared < RegularHessianFactor<DimPose>
-        > (keys_, augmentedHessianUniqueKeys);
+    return std::make_shared<RegularHessianFactor<DimPose>>(
+        keys_, augmentedHessianUniqueKeys);
   }
 
   /**
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index d7b68c4ec..44b7505fc 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -13,7 +13,7 @@ if (NOT GTSAM_USE_BOOST_FEATURES)
 endif()
 
 if (NOT GTSAM_ENABLE_BOOST_SERIALIZATION)
-	list(APPEND excluded_tests "testSerializationSLAM.cpp")
+	list(APPEND excluded_tests "testSerializationSlam.cpp")
 endif()
 
 # Build tests