diff --git a/cmake/HandleGeneralOptions.cmake b/cmake/HandleGeneralOptions.cmake
index 64fa6b407..83cf9bbb9 100644
--- a/cmake/HandleGeneralOptions.cmake
+++ b/cmake/HandleGeneralOptions.cmake
@@ -29,6 +29,13 @@ option(GTSAM_ALLOW_DEPRECATED_SINCE_V43     "Allow use of methods/functions depr
 option(GTSAM_SUPPORT_NESTED_DISSECTION      "Support Metis-based nested dissection" ON)
 option(GTSAM_TANGENT_PREINTEGRATION         "Use new ImuFactor with integration on tangent space" ON)
 option(GTSAM_SLOW_BUT_CORRECT_BETWEENFACTOR "Use the slower but correct version of BetweenFactor" OFF)
+option(GTSAM_ENABLE_BOOST_SERIALIZATION "Enable Boost serialization" ON)
+
+#TODO(kartikarcot) defining it in config.h.in did not work
+if (GTSAM_ENABLE_BOOST_SERIALIZATION)
+    add_definitions(-DGTSAM_ENABLE_BOOST_SERIALIZATION)
+endif()
+
 if(NOT MSVC AND NOT XCODE_VERSION)
     option(GTSAM_BUILD_WITH_CCACHE           "Use ccache compiler cache" ON)
 endif()
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index 7fc33f921..1584a3a35 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -2,4 +2,12 @@ set (excluded_examples
     elaboratePoint2KalmanFilter.cpp
 )
 
+# if GTSAM_ENABLE_BOOST_SERIALIZATION is not set then SolverComparer.cpp will not compile
+if (NOT GTSAM_ENABLE_BOOST_SERIALIZATION)
+  set (excluded_examples
+    ${excluded_examples}
+    SolverComparer.cpp
+  )
+endif()
+
 gtsamAddExamplesGlob("*.cpp" "${excluded_examples}" "gtsam;gtsam_unstable;${Boost_PROGRAM_OPTIONS_LIBRARY}")
diff --git a/gtsam/base/ConcurrentMap.h b/gtsam/base/ConcurrentMap.h
index 8d5f56675..66d06d324 100644
--- a/gtsam/base/ConcurrentMap.h
+++ b/gtsam/base/ConcurrentMap.h
@@ -48,8 +48,10 @@ using ConcurrentMapBase = gtsam::FastMap<KEY, VALUE>;
 
 #endif
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/nvp.hpp>
 #include <boost/serialization/split_member.hpp>
+#endif
 #include <boost/static_assert.hpp>
 
 #include <gtsam/base/FastVector.h>
@@ -100,6 +102,7 @@ public:
 #endif
 
 private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class Archive>
@@ -120,6 +123,7 @@ private:
     this->insert(map.begin(), map.end());
   }
   BOOST_SERIALIZATION_SPLIT_MEMBER()
+#endif
 };
 
 }
diff --git a/gtsam/base/FastList.h b/gtsam/base/FastList.h
index 29ecd7dbc..d7c2dd6f4 100644
--- a/gtsam/base/FastList.h
+++ b/gtsam/base/FastList.h
@@ -21,10 +21,11 @@
 #include <gtsam/base/FastDefaultAllocator.h>
 #include <list>
 #include <boost/utility/enable_if.hpp>
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/nvp.hpp>
 #include <boost/serialization/version.hpp>
-#include <boost/serialization/optional.hpp>
 #include <boost/serialization/list.hpp>
+#endif
 
 namespace gtsam {
 
@@ -76,12 +77,14 @@ public:
   }
 
 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
 
 };
 
diff --git a/gtsam/base/FastMap.h b/gtsam/base/FastMap.h
index 1f68c8d28..359c865a5 100644
--- a/gtsam/base/FastMap.h
+++ b/gtsam/base/FastMap.h
@@ -19,8 +19,10 @@
 #pragma once
 
 #include <gtsam/base/FastDefaultAllocator.h>
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/nvp.hpp>
 #include <boost/serialization/map.hpp>
+#endif
 #include <map>
 
 namespace gtsam {
@@ -67,12 +69,14 @@ public:
   bool exists(const KEY& e) const { return this->find(e) != this->end(); }
 
 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
 };
 
 }
diff --git a/gtsam/base/FastSet.h b/gtsam/base/FastSet.h
index 1fceebad5..b7c00801b 100644
--- a/gtsam/base/FastSet.h
+++ b/gtsam/base/FastSet.h
@@ -19,11 +19,13 @@
 #pragma once
 
 #include <boost/version.hpp>
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #if BOOST_VERSION >= 107400
 #include <boost/serialization/library_version_type.hpp>
 #endif
 #include <boost/serialization/nvp.hpp>
 #include <boost/serialization/set.hpp>
+#endif
 #include <gtsam/base/FastDefaultAllocator.h>
 #include <gtsam/base/Testable.h>
 
@@ -121,12 +123,14 @@ public:
   }
 
 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
 };
 
 }
diff --git a/gtsam/base/GenericValue.h b/gtsam/base/GenericValue.h
index f83a067fb..bbf0f57ad 100644
--- a/gtsam/base/GenericValue.h
+++ b/gtsam/base/GenericValue.h
@@ -175,6 +175,7 @@ public:
 
   private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     /** Serialization function */
     friend class boost::serialization::access;
     template<class ARCHIVE>
@@ -183,6 +184,7 @@ public:
               boost::serialization::base_object<Value>(*this));
       ar & boost::serialization::make_nvp("value", value_);
 	}
+#endif
 
 
   // Alignment, see https://eigen.tuxfamily.org/dox/group__TopicStructHavingEigenMembers.html
diff --git a/gtsam/base/MatrixSerialization.h b/gtsam/base/MatrixSerialization.h
index f79d7b27f..9cf730230 100644
--- a/gtsam/base/MatrixSerialization.h
+++ b/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
diff --git a/gtsam/base/SymmetricBlockMatrix.h b/gtsam/base/SymmetricBlockMatrix.h
index e8afe6e38..1783857cb 100644
--- a/gtsam/base/SymmetricBlockMatrix.h
+++ b/gtsam/base/SymmetricBlockMatrix.h
@@ -21,7 +21,9 @@
 #include <gtsam/base/Matrix.h>
 #include <gtsam/base/types.h>
 #include <gtsam/dllexport.h>
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/nvp.hpp>
+#endif
 #include <cassert>
 #include <stdexcept>
 #include <array>
@@ -384,6 +386,7 @@ namespace gtsam {
     template<typename SymmetricBlockMatrixType> friend class SymmetricBlockMatrixBlockExpr;
 
   private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     /** Serialization function */
     friend class boost::serialization::access;
     template<class ARCHIVE>
@@ -396,6 +399,7 @@ namespace gtsam {
       ar & BOOST_SERIALIZATION_NVP(variableColOffsets_);
       ar & BOOST_SERIALIZATION_NVP(blockStart_);
     }
+#endif
   };
 
   /// Foward declare exception class
diff --git a/gtsam/base/Value.h b/gtsam/base/Value.h
index f824b388e..c36de42ab 100644
--- a/gtsam/base/Value.h
+++ b/gtsam/base/Value.h
@@ -21,8 +21,10 @@
 #include <gtsam/config.h>      // Configuration from CMake
 
 #include <gtsam/base/Vector.h>
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/nvp.hpp>
 #include <boost/serialization/assume_abstract.hpp>
+#endif
 #include <memory>
 
 namespace gtsam {
@@ -119,13 +121,17 @@ namespace gtsam {
      *       The last two links explain why these export lines have to be in the same source module that includes
      *       any of the archive class headers.
      * */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     friend class boost::serialization::access;
     template<class ARCHIVE>
     void serialize(ARCHIVE & /*ar*/, const unsigned int /*version*/) {
     }
+#endif
 
   };
 
 } /* namespace gtsam */
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 BOOST_SERIALIZATION_ASSUME_ABSTRACT(gtsam::Value)
+#endif
diff --git a/gtsam/base/VectorSerialization.h b/gtsam/base/VectorSerialization.h
index 97df02a75..7acf108f4 100644
--- a/gtsam/base/VectorSerialization.h
+++ b/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
diff --git a/gtsam/base/VerticalBlockMatrix.h b/gtsam/base/VerticalBlockMatrix.h
index ef6691cac..777441300 100644
--- a/gtsam/base/VerticalBlockMatrix.h
+++ b/gtsam/base/VerticalBlockMatrix.h
@@ -219,6 +219,7 @@ namespace gtsam {
     friend class SymmetricBlockMatrix;
 
   private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     /** Serialization function */
     friend class boost::serialization::access;
     template<class ARCHIVE>
@@ -229,6 +230,7 @@ namespace gtsam {
       ar & BOOST_SERIALIZATION_NVP(rowEnd_);
       ar & BOOST_SERIALIZATION_NVP(blockStart_);
     }
+#endif
   };
 
 }
diff --git a/gtsam/base/serializationTestHelpers.h b/gtsam/base/serializationTestHelpers.h
index 7aab743db..09b36cdc8 100644
--- a/gtsam/base/serializationTestHelpers.h
+++ b/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
diff --git a/gtsam/base/std_optional_serialization.h b/gtsam/base/std_optional_serialization.h
index f59c71cd3..07a02c228 100644
--- a/gtsam/base/std_optional_serialization.h
+++ b/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
diff --git a/gtsam/base/tests/CMakeLists.txt b/gtsam/base/tests/CMakeLists.txt
index 8e99ef5ba..ae8a12581 100644
--- a/gtsam/base/tests/CMakeLists.txt
+++ b/gtsam/base/tests/CMakeLists.txt
@@ -1 +1,9 @@
-gtsamAddTestsGlob(base "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 "testSerializationBase.cpp" "testStdOptionalSerialization.cpp")
+else()
+  set(EXCLUDE_TESTS "")
+endif()
+
+gtsamAddTestsGlob(base "test*.cpp" "${EXCLUDE_TESTS}" "gtsam")
diff --git a/gtsam/base/timing.h b/gtsam/base/timing.h
index 33236d8e1..52e6adff7 100644
--- a/gtsam/base/timing.h
+++ b/gtsam/base/timing.h
@@ -23,6 +23,7 @@
 
 #include <boost/version.hpp>
 
+#include <memory>
 #include <cstddef>
 #include <string>
 
diff --git a/gtsam/base/treeTraversal-inst.h b/gtsam/base/treeTraversal-inst.h
index 4c6d74806..5d2f1b49a 100644
--- a/gtsam/base/treeTraversal-inst.h
+++ b/gtsam/base/treeTraversal-inst.h
@@ -28,6 +28,7 @@
 #include <vector>
 #include <string>
 #include <memory>
+#include <cassert>
 
 namespace gtsam {
 
diff --git a/gtsam/discrete/DecisionTree-inl.h b/gtsam/discrete/DecisionTree-inl.h
index da72bf71f..f17786056 100644
--- a/gtsam/discrete/DecisionTree-inl.h
+++ b/gtsam/discrete/DecisionTree-inl.h
@@ -154,6 +154,7 @@ namespace gtsam {
    private:
     using Base = DecisionTree<L, Y>::Node;
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     /** Serialization function */
     friend class boost::serialization::access;
     template <class ARCHIVE>
@@ -162,6 +163,7 @@ namespace gtsam {
       ar& BOOST_SERIALIZATION_NVP(constant_);
       ar& BOOST_SERIALIZATION_NVP(nrAssignments_);
     }
+#endif
   };  // Leaf
 
   /****************************************************************************/
@@ -443,6 +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>
@@ -452,6 +455,7 @@ namespace gtsam {
       ar& BOOST_SERIALIZATION_NVP(branches_);
       ar& BOOST_SERIALIZATION_NVP(allSame_);
     }
+#endif
   };  // Choice
 
   /****************************************************************************/
diff --git a/gtsam/discrete/DecisionTree.h b/gtsam/discrete/DecisionTree.h
index af6101296..f3949b512 100644
--- a/gtsam/discrete/DecisionTree.h
+++ b/gtsam/discrete/DecisionTree.h
@@ -23,7 +23,9 @@
 #include <gtsam/base/types.h>
 #include <gtsam/discrete/Assignment.h>
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/nvp.hpp>
+#endif
 #include <memory>
 #include <functional>
 #include <iostream>
@@ -117,10 +119,12 @@ namespace gtsam {
       virtual bool isLeaf() const = 0;
 
      private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
       /** Serialization function */
       friend class boost::serialization::access;
       template <class ARCHIVE>
       void serialize(ARCHIVE& ar, const unsigned int /*version*/) {}
+#endif
     };
     /** ------------------------ Node base class --------------------------- */
 
@@ -374,12 +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>
diff --git a/gtsam/discrete/DecisionTreeFactor.h b/gtsam/discrete/DecisionTreeFactor.h
index 9150c459a..74899b729 100644
--- a/gtsam/discrete/DecisionTreeFactor.h
+++ b/gtsam/discrete/DecisionTreeFactor.h
@@ -253,6 +253,7 @@ namespace gtsam {
   /// @}
 
    private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     /** Serialization function */
     friend class boost::serialization::access;
     template <class ARCHIVE>
@@ -261,6 +262,7 @@ namespace gtsam {
       ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(ADT);
       ar& BOOST_SERIALIZATION_NVP(cardinalities_);
     }
+#endif
   };
 
 // traits
diff --git a/gtsam/discrete/DiscreteBayesNet.h b/gtsam/discrete/DiscreteBayesNet.h
index 469bfc768..9005f975f 100644
--- a/gtsam/discrete/DiscreteBayesNet.h
+++ b/gtsam/discrete/DiscreteBayesNet.h
@@ -150,12 +150,14 @@ class GTSAM_EXPORT DiscreteBayesNet: public BayesNet<DiscreteConditional> {
     /// @}
 
  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
   };
 
 // traits
diff --git a/gtsam/discrete/DiscreteConditional.h b/gtsam/discrete/DiscreteConditional.h
index 854f5f43d..183cf8561 100644
--- a/gtsam/discrete/DiscreteConditional.h
+++ b/gtsam/discrete/DiscreteConditional.h
@@ -268,6 +268,7 @@ class GTSAM_EXPORT DiscreteConditional
                                   bool forceComplete) const;
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template <class Archive>
@@ -275,6 +276,7 @@ class GTSAM_EXPORT DiscreteConditional
     ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(BaseFactor);
     ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(BaseConditional);
   }
+#endif
 };
 // DiscreteConditional
 
diff --git a/gtsam/discrete/DiscreteKey.h b/gtsam/discrete/DiscreteKey.h
index fe348ee62..3a626c6b3 100644
--- a/gtsam/discrete/DiscreteKey.h
+++ b/gtsam/discrete/DiscreteKey.h
@@ -21,7 +21,9 @@
 #include <gtsam/global_includes.h>
 #include <gtsam/inference/Key.h>
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/vector.hpp>
+#endif
 #include <map>
 #include <string>
 #include <vector>
@@ -79,6 +81,7 @@ namespace gtsam {
     /// Check equality to another DiscreteKeys object.
     bool equals(const DiscreteKeys& other, double tol = 0) const;
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     /** Serialization function */
     friend class boost::serialization::access;
     template <class ARCHIVE>
@@ -87,6 +90,7 @@ namespace gtsam {
           "DiscreteKeys",
           boost::serialization::base_object<std::vector<DiscreteKey>>(*this));
     }
+#endif
 
   }; // DiscreteKeys
 
diff --git a/gtsam/discrete/DiscreteLookupDAG.h b/gtsam/discrete/DiscreteLookupDAG.h
index 3b8e6d6db..d3fd65ebe 100644
--- a/gtsam/discrete/DiscreteLookupDAG.h
+++ b/gtsam/discrete/DiscreteLookupDAG.h
@@ -126,12 +126,14 @@ class GTSAM_EXPORT DiscreteLookupDAG : public BayesNet<DiscreteLookupTable> {
   /// @}
 
  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
 };
 
 // traits
diff --git a/gtsam/discrete/tests/CMakeLists.txt b/gtsam/discrete/tests/CMakeLists.txt
index e968fac91..3067e54be 100644
--- a/gtsam/discrete/tests/CMakeLists.txt
+++ b/gtsam/discrete/tests/CMakeLists.txt
@@ -1 +1,9 @@
-gtsamAddTestsGlob(discrete "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 "testSerializationDiscrete.cpp" "testDiscreteFactor.cpp")
+else()
+  set(EXCLUDE_TESTS "")
+endif()
+
+gtsamAddTestsGlob(discrete "test*.cpp" "${EXCLUDE_TESTS}" "gtsam")
diff --git a/gtsam/geometry/BearingRange.h b/gtsam/geometry/BearingRange.h
index ca767c1f1..7e6210914 100644
--- a/gtsam/geometry/BearingRange.h
+++ b/gtsam/geometry/BearingRange.h
@@ -22,7 +22,9 @@
 #include <gtsam/base/Testable.h>
 #include <gtsam/base/OptionalJacobian.h>
 #include <boost/concept/assert.hpp>
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/nvp.hpp>
+#endif
 #include <iostream>
 
 namespace gtsam {
@@ -147,6 +149,7 @@ public:
   /// @{
 
 private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /// Serialization function
   template <class ARCHIVE>
   void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
@@ -155,6 +158,7 @@ private:
   }
 
   friend class boost::serialization::access;
+#endif
 
   /// @}
 
diff --git a/gtsam/geometry/Cal3.h b/gtsam/geometry/Cal3.h
index a55010ce0..1b66eb336 100644
--- a/gtsam/geometry/Cal3.h
+++ b/gtsam/geometry/Cal3.h
@@ -184,6 +184,7 @@ class GTSAM_EXPORT Cal3 {
   /// @{
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  ///
   /// Serialization function
   friend class boost::serialization::access;
   template <class Archive>
@@ -194,6 +195,7 @@ class GTSAM_EXPORT Cal3 {
     ar& BOOST_SERIALIZATION_NVP(u0_);
     ar& BOOST_SERIALIZATION_NVP(v0_);
   }
+#endif
 
   /// @}
 };
diff --git a/gtsam/geometry/Cal3Bundler.h b/gtsam/geometry/Cal3Bundler.h
index c12f5448f..725c1481f 100644
--- a/gtsam/geometry/Cal3Bundler.h
+++ b/gtsam/geometry/Cal3Bundler.h
@@ -156,6 +156,7 @@ class GTSAM_EXPORT Cal3Bundler : public Cal3 {
   /// @name Advanced Interface
   /// @{
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template <class Archive>
@@ -166,6 +167,7 @@ class GTSAM_EXPORT Cal3Bundler : public Cal3 {
     ar& BOOST_SERIALIZATION_NVP(k2_);
     ar& BOOST_SERIALIZATION_NVP(tol_);
   }
+#endif
 
   /// @}
 };
diff --git a/gtsam/geometry/Cal3DS2.h b/gtsam/geometry/Cal3DS2.h
index 7252f15dc..a7ca08afc 100644
--- a/gtsam/geometry/Cal3DS2.h
+++ b/gtsam/geometry/Cal3DS2.h
@@ -104,6 +104,7 @@ class GTSAM_EXPORT Cal3DS2 : public Cal3DS2_Base {
   /// @name Advanced Interface
   /// @{
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template <class Archive>
@@ -111,6 +112,7 @@ class GTSAM_EXPORT Cal3DS2 : public Cal3DS2_Base {
     ar& boost::serialization::make_nvp(
         "Cal3DS2", boost::serialization::base_object<Cal3DS2_Base>(*this));
   }
+#endif
 
   /// @}
 };
diff --git a/gtsam/geometry/Cal3DS2_Base.h b/gtsam/geometry/Cal3DS2_Base.h
index 185521b77..b0ef0368b 100644
--- a/gtsam/geometry/Cal3DS2_Base.h
+++ b/gtsam/geometry/Cal3DS2_Base.h
@@ -156,6 +156,7 @@ class GTSAM_EXPORT Cal3DS2_Base : public Cal3 {
   /// @name Advanced Interface
   /// @{
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template <class Archive>
@@ -168,6 +169,7 @@ class GTSAM_EXPORT Cal3DS2_Base : public Cal3 {
     ar& BOOST_SERIALIZATION_NVP(p2_);
     ar& BOOST_SERIALIZATION_NVP(tol_);
   }
+#endif
 
   /// @}
 };
diff --git a/gtsam/geometry/Cal3Fisheye.h b/gtsam/geometry/Cal3Fisheye.h
index d3faf3a92..3f1cac148 100644
--- a/gtsam/geometry/Cal3Fisheye.h
+++ b/gtsam/geometry/Cal3Fisheye.h
@@ -184,6 +184,7 @@ class GTSAM_EXPORT Cal3Fisheye : public Cal3 {
   /// @name Advanced Interface
   /// @{
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template <class Archive>
@@ -195,6 +196,7 @@ class GTSAM_EXPORT Cal3Fisheye : public Cal3 {
     ar& BOOST_SERIALIZATION_NVP(k3_);
     ar& BOOST_SERIALIZATION_NVP(k4_);
   }
+#endif
 
   /// @}
 };
diff --git a/gtsam/geometry/Cal3Unified.h b/gtsam/geometry/Cal3Unified.h
index de292b3b7..309b6dca1 100644
--- a/gtsam/geometry/Cal3Unified.h
+++ b/gtsam/geometry/Cal3Unified.h
@@ -138,6 +138,7 @@ class GTSAM_EXPORT Cal3Unified : public Cal3DS2_Base {
   /// @}
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template <class Archive>
@@ -146,6 +147,7 @@ class GTSAM_EXPORT Cal3Unified : public Cal3DS2_Base {
         "Cal3Unified", boost::serialization::base_object<Cal3DS2_Base>(*this));
     ar& BOOST_SERIALIZATION_NVP(xi_);
   }
+#endif
 };
 
 template <>
diff --git a/gtsam/geometry/Cal3_S2.h b/gtsam/geometry/Cal3_S2.h
index ed62c5dd1..885be614f 100644
--- a/gtsam/geometry/Cal3_S2.h
+++ b/gtsam/geometry/Cal3_S2.h
@@ -132,6 +132,7 @@ class GTSAM_EXPORT Cal3_S2 : public Cal3 {
   /// @{
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  ///
   /// Serialization function
   friend class boost::serialization::access;
   template <class Archive>
@@ -139,6 +140,7 @@ class GTSAM_EXPORT Cal3_S2 : public Cal3 {
     ar& boost::serialization::make_nvp(
         "Cal3_S2", boost::serialization::base_object<Cal3>(*this));
   }
+#endif
 
   /// @}
 };
diff --git a/gtsam/geometry/Cal3_S2Stereo.h b/gtsam/geometry/Cal3_S2Stereo.h
index 39ca1b099..4fee1a022 100644
--- a/gtsam/geometry/Cal3_S2Stereo.h
+++ b/gtsam/geometry/Cal3_S2Stereo.h
@@ -143,6 +143,7 @@ class GTSAM_EXPORT Cal3_S2Stereo : public Cal3_S2 {
   /// @{
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template <class Archive>
@@ -151,6 +152,7 @@ class GTSAM_EXPORT Cal3_S2Stereo : public Cal3_S2 {
         "Cal3_S2", boost::serialization::base_object<Cal3_S2>(*this));
     ar& BOOST_SERIALIZATION_NVP(b_);
   }
+#endif
   /// @}
 };
 
diff --git a/gtsam/geometry/CalibratedCamera.h b/gtsam/geometry/CalibratedCamera.h
index c8e27444e..277c865c5 100644
--- a/gtsam/geometry/CalibratedCamera.h
+++ b/gtsam/geometry/CalibratedCamera.h
@@ -25,7 +25,9 @@
 #include <gtsam/base/Manifold.h>
 #include <gtsam/base/ThreadsafeException.h>
 #include <gtsam/dllexport.h>
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/nvp.hpp>
+#endif
 
 namespace gtsam {
 
@@ -228,12 +230,14 @@ public:
 
 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
 };
 // end of class PinholeBase
 
@@ -412,6 +416,7 @@ private:
   /// @name Advanced Interface
   /// @{
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class Archive>
@@ -420,6 +425,7 @@ private:
         & boost::serialization::make_nvp("PinholeBase",
             boost::serialization::base_object<PinholeBase>(*this));
   }
+#endif
 
   /// @}
 };
diff --git a/gtsam/geometry/CameraSet.h b/gtsam/geometry/CameraSet.h
index 4521cbb82..1db86cfde 100644
--- a/gtsam/geometry/CameraSet.h
+++ b/gtsam/geometry/CameraSet.h
@@ -465,12 +465,14 @@ class CameraSet : public std::vector<CAMERA, Eigen::aligned_allocator<CAMERA>> {
   }
 
  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&(*this);
   }
+#endif
 
  public:
   GTSAM_MAKE_ALIGNED_OPERATOR_NEW
diff --git a/gtsam/geometry/EssentialMatrix.h b/gtsam/geometry/EssentialMatrix.h
index ea980d667..d514c4f19 100644
--- a/gtsam/geometry/EssentialMatrix.h
+++ b/gtsam/geometry/EssentialMatrix.h
@@ -180,6 +180,7 @@ class EssentialMatrix {
   /// @name Advanced Interface
   /// @{
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -197,6 +198,7 @@ class EssentialMatrix {
       ar & boost::serialization::make_nvp("E32", E_(2, 1));
       ar & boost::serialization::make_nvp("E33", E_(2, 2));
     }
+#endif
 
   /// @}
 
diff --git a/gtsam/geometry/PinholeCamera.h b/gtsam/geometry/PinholeCamera.h
index 8f299f854..23b595c84 100644
--- a/gtsam/geometry/PinholeCamera.h
+++ b/gtsam/geometry/PinholeCamera.h
@@ -326,6 +326,7 @@ public:
 
 private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class Archive>
@@ -335,6 +336,7 @@ private:
             boost::serialization::base_object<Base>(*this));
     ar & BOOST_SERIALIZATION_NVP(K_);
   }
+#endif
 
 public:
   GTSAM_MAKE_ALIGNED_OPERATOR_NEW
diff --git a/gtsam/geometry/PinholePose.h b/gtsam/geometry/PinholePose.h
index 813f04aaa..7670e1e88 100644
--- a/gtsam/geometry/PinholePose.h
+++ b/gtsam/geometry/PinholePose.h
@@ -217,6 +217,7 @@ public:
 
 private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class Archive>
@@ -225,6 +226,7 @@ private:
     & boost::serialization::make_nvp("PinholeBase",
         boost::serialization::base_object<PinholeBase>(*this));
   }
+#endif
 
 public:
   GTSAM_MAKE_ALIGNED_OPERATOR_NEW
@@ -429,6 +431,7 @@ public:
 
 private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class Archive>
@@ -438,6 +441,7 @@ private:
             boost::serialization::base_object<Base>(*this));
     ar & BOOST_SERIALIZATION_NVP(K_);
   }
+#endif
 
 public:
   GTSAM_MAKE_ALIGNED_OPERATOR_NEW
diff --git a/gtsam/geometry/PinholeSet.h b/gtsam/geometry/PinholeSet.h
index 7541f886b..55269f9d6 100644
--- a/gtsam/geometry/PinholeSet.h
+++ b/gtsam/geometry/PinholeSet.h
@@ -64,12 +64,14 @@ public:
 
 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
 };
 
 template<class CAMERA>
diff --git a/gtsam/geometry/Point2.h b/gtsam/geometry/Point2.h
index 575d1fe41..76beea11a 100644
--- a/gtsam/geometry/Point2.h
+++ b/gtsam/geometry/Point2.h
@@ -19,7 +19,9 @@
 
 #include <gtsam/base/VectorSpace.h>
 #include <gtsam/base/std_optional_serialization.h>
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/nvp.hpp>
+#endif
 
 #include <optional>
 
diff --git a/gtsam/geometry/Point3.h b/gtsam/geometry/Point3.h
index b1fd26bb2..8da83817d 100644
--- a/gtsam/geometry/Point3.h
+++ b/gtsam/geometry/Point3.h
@@ -26,7 +26,9 @@
 #include <gtsam/base/Vector.h>
 #include <gtsam/dllexport.h>
 #include <gtsam/base/VectorSerialization.h>
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/nvp.hpp>
+#endif
 #include <numeric>
 
 namespace gtsam {
diff --git a/gtsam/geometry/Pose2.h b/gtsam/geometry/Pose2.h
index c106cb4d4..e3ff1416c 100644
--- a/gtsam/geometry/Pose2.h
+++ b/gtsam/geometry/Pose2.h
@@ -326,6 +326,7 @@ public:
 
  private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  //
   // Serialization function
   friend class boost::serialization::access;
   template<class Archive>
@@ -333,6 +334,7 @@ public:
     ar & BOOST_SERIALIZATION_NVP(t_);
     ar & BOOST_SERIALIZATION_NVP(r_);
   }
+#endif
 
 public:
   // Align for Point2, which is either derived from, or is typedef, of Vector2
diff --git a/gtsam/geometry/Pose3.h b/gtsam/geometry/Pose3.h
index 7e4f30bb4..35a9ea301 100644
--- a/gtsam/geometry/Pose3.h
+++ b/gtsam/geometry/Pose3.h
@@ -389,6 +389,7 @@ public:
   friend std::ostream &operator<<(std::ostream &os, const Pose3& p);
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class Archive>
@@ -396,6 +397,7 @@ public:
     ar & BOOST_SERIALIZATION_NVP(R_);
     ar & BOOST_SERIALIZATION_NVP(t_);
   }
+#endif
   /// @}
 
 #ifdef GTSAM_USE_QUATERNIONS
diff --git a/gtsam/geometry/Rot2.h b/gtsam/geometry/Rot2.h
index 26e6e6b7a..63b914434 100644
--- a/gtsam/geometry/Rot2.h
+++ b/gtsam/geometry/Rot2.h
@@ -213,6 +213,7 @@ namespace gtsam {
     static Rot2 ClosestTo(const Matrix2& M);
 
   private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     /** Serialization function */
     friend class boost::serialization::access;
     template<class ARCHIVE>
@@ -220,6 +221,7 @@ namespace gtsam {
       ar & BOOST_SERIALIZATION_NVP(c_);
       ar & BOOST_SERIALIZATION_NVP(s_);
     }
+#endif
 
   };
 
diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h
index b98c03dce..0b3798baa 100644
--- a/gtsam/geometry/Rot3.h
+++ b/gtsam/geometry/Rot3.h
@@ -528,6 +528,7 @@ class GTSAM_EXPORT Rot3 : public LieGroup<Rot3, 3> {
     /// @}
 
    private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     /** Serialization function */
     friend class boost::serialization::access;
     template <class ARCHIVE>
@@ -550,6 +551,7 @@ class GTSAM_EXPORT Rot3 : public LieGroup<Rot3, 3> {
       ar& boost::serialization::make_nvp("z", quaternion_.z());
 #endif
     }
+#endif
 
 #ifdef GTSAM_USE_QUATERNIONS
   // only align if quaternion, Matrix3 has no alignment requirements
diff --git a/gtsam/geometry/SO3.h b/gtsam/geometry/SO3.h
index 6f78bed4e..cd67bfb8c 100644
--- a/gtsam/geometry/SO3.h
+++ b/gtsam/geometry/SO3.h
@@ -99,8 +99,9 @@ template <>
 GTSAM_EXPORT
 Vector9 SO3::vec(OptionalJacobian<9, 3> H) const;
 
-/** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 template <class Archive>
+/** Serialization function */
 void serialize(Archive& ar, SO3& R, const unsigned int /*version*/) {
   Matrix3& M = R.matrix_;
   ar& boost::serialization::make_nvp("R11", M(0, 0));
@@ -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 {
 
diff --git a/gtsam/geometry/SO4.h b/gtsam/geometry/SO4.h
index 529935006..834cab746 100644
--- a/gtsam/geometry/SO4.h
+++ b/gtsam/geometry/SO4.h
@@ -78,8 +78,9 @@ GTSAM_EXPORT Matrix3 topLeft(const SO4 &Q, OptionalJacobian<9, 6> H = {});
  */
 GTSAM_EXPORT Matrix43 stiefel(const SO4 &Q, OptionalJacobian<12, 6> H = {});
 
-/** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 template <class Archive>
+/** Serialization function */
 void serialize(Archive &ar, SO4 &Q, const unsigned int /*version*/) {
   Matrix4 &M = Q.matrix_;
   ar &boost::serialization::make_nvp("Q11", M(0, 0));
@@ -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
diff --git a/gtsam/geometry/SOn.h b/gtsam/geometry/SOn.h
index b8b9deb3b..7e1762b3f 100644
--- a/gtsam/geometry/SOn.h
+++ b/gtsam/geometry/SOn.h
@@ -24,7 +24,9 @@
 #include <gtsam/dllexport.h>
 #include <Eigen/Core>
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/nvp.hpp>
+#endif
 
 #include <iostream> // TODO(frank): how to avoid?
 #include <string>
@@ -323,6 +325,7 @@ class SO : public LieGroup<SO<N>, internal::DimensionSO(N)> {
   /// @name Serialization
   /// @{
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   template <class Archive>
   friend void save(Archive&, SO&, const unsigned int);
   template <class Archive>
@@ -331,6 +334,7 @@ class SO : public LieGroup<SO<N>, internal::DimensionSO(N)> {
   friend void serialize(Archive&, SO&, const unsigned int);
   friend class boost::serialization::access;
   friend class Rot3;  // for serialize
+#endif
 
   /// @}
 };
@@ -375,6 +379,7 @@ template <>
 GTSAM_EXPORT
 typename SOn::VectorN2 SOn::vec(DynamicJacobian H) const;
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 /** Serialization function */
 template<class Archive>
 void serialize(
@@ -384,6 +389,7 @@ void serialize(
   Matrix& M = Q.matrix_;
   ar& BOOST_SERIALIZATION_NVP(M);
 }
+#endif
 
 /*
  * Define the traits. internal::LieGroup provides both Lie group and Testable
diff --git a/gtsam/geometry/SphericalCamera.h b/gtsam/geometry/SphericalCamera.h
index 202aefa9f..a9c38cd69 100644
--- a/gtsam/geometry/SphericalCamera.h
+++ b/gtsam/geometry/SphericalCamera.h
@@ -26,7 +26,9 @@
 #include <gtsam/geometry/Pose3.h>
 #include <gtsam/geometry/Unit3.h>
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/nvp.hpp>
+#endif
 
 namespace gtsam {
 
@@ -52,6 +54,7 @@ class GTSAM_EXPORT EmptyCal {
   }
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  ///
   /// Serialization function
   friend class boost::serialization::access;
   template <class Archive>
@@ -59,6 +62,7 @@ class GTSAM_EXPORT EmptyCal {
     ar& boost::serialization::make_nvp(
         "EmptyCal", boost::serialization::base_object<EmptyCal>(*this));
   }
+#endif
 };
 
 /**
@@ -219,12 +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
diff --git a/gtsam/geometry/StereoCamera.h b/gtsam/geometry/StereoCamera.h
index 6ccebd8c2..2a483ffcf 100644
--- a/gtsam/geometry/StereoCamera.h
+++ b/gtsam/geometry/StereoCamera.h
@@ -179,12 +179,14 @@ public:
 
 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(leftCamPose_);
     ar & BOOST_SERIALIZATION_NVP(K_);
   }
+#endif
 
 };
 
diff --git a/gtsam/geometry/StereoPoint2.h b/gtsam/geometry/StereoPoint2.h
index bce5beb2a..bd335dfbb 100644
--- a/gtsam/geometry/StereoPoint2.h
+++ b/gtsam/geometry/StereoPoint2.h
@@ -20,7 +20,9 @@
 
 #include <gtsam/geometry/Point2.h>
 #include <gtsam/base/VectorSpace.h>
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/nvp.hpp>
+#endif
 
 namespace gtsam {
 
@@ -146,6 +148,7 @@ private:
   /// @name Advanced Interface
   /// @{
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -154,6 +157,7 @@ private:
     ar & BOOST_SERIALIZATION_NVP(uR_);
     ar & BOOST_SERIALIZATION_NVP(v_);
   }
+#endif
 
   /// @}
 
diff --git a/gtsam/geometry/Unit3.h b/gtsam/geometry/Unit3.h
index ebc320747..72dd49c29 100644
--- a/gtsam/geometry/Unit3.h
+++ b/gtsam/geometry/Unit3.h
@@ -199,12 +199,14 @@ private:
 
   /// @name Advanced Interface
   /// @{
+#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(p_);
   }
+#endif
 
   /// @}
 
diff --git a/gtsam/geometry/tests/CMakeLists.txt b/gtsam/geometry/tests/CMakeLists.txt
index b1499ee9d..97b41c1fd 100644
--- a/gtsam/geometry/tests/CMakeLists.txt
+++ b/gtsam/geometry/tests/CMakeLists.txt
@@ -1 +1,9 @@
-gtsamAddTestsGlob(geometry "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 "testSerializationGeometry.cpp")
+else()
+  set(EXCLUDE_TESTS "")
+endif()
+
+gtsamAddTestsGlob(geometry "test*.cpp" "${EXCLUDE_TESTS}" "gtsam")
diff --git a/gtsam/geometry/tests/testBearingRange.cpp b/gtsam/geometry/tests/testBearingRange.cpp
index 8c5d2208e..1216a6396 100644
--- a/gtsam/geometry/tests/testBearingRange.cpp
+++ b/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() {
diff --git a/gtsam/geometry/tests/testUnit3.cpp b/gtsam/geometry/tests/testUnit3.cpp
index 29d4aee5e..0c4c2c725 100644
--- a/gtsam/geometry/tests/testUnit3.cpp
+++ b/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
 
 
 /* ************************************************************************* */
diff --git a/gtsam/geometry/triangulation.h b/gtsam/geometry/triangulation.h
index 160ab0480..24bc94d80 100644
--- a/gtsam/geometry/triangulation.h
+++ b/gtsam/geometry/triangulation.h
@@ -611,6 +611,7 @@ struct GTSAM_EXPORT TriangulationParameters {
 
 private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  ///
   /// Serialization function
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -620,6 +621,7 @@ private:
     ar & BOOST_SERIALIZATION_NVP(landmarkDistanceThreshold);
     ar & BOOST_SERIALIZATION_NVP(dynamicOutlierRejectionThreshold);
   }
+#endif
 };
 
 /**
@@ -674,12 +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
diff --git a/gtsam/hybrid/GaussianMixture.h b/gtsam/hybrid/GaussianMixture.h
index 5b4bc0f74..2d715c6e3 100644
--- a/gtsam/hybrid/GaussianMixture.h
+++ b/gtsam/hybrid/GaussianMixture.h
@@ -255,6 +255,7 @@ class GTSAM_EXPORT GaussianMixture
   /// Check whether `given` has values for all frontal keys.
   bool allFrontalsGiven(const VectorValues &given) const;
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template <class Archive>
@@ -263,6 +264,7 @@ class GTSAM_EXPORT GaussianMixture
     ar &BOOST_SERIALIZATION_BASE_OBJECT_NVP(BaseConditional);
     ar &BOOST_SERIALIZATION_NVP(conditionals_);
   }
+#endif
 };
 
 /// Return the DiscreteKey vector as a set.
diff --git a/gtsam/hybrid/GaussianMixtureFactor.h b/gtsam/hybrid/GaussianMixtureFactor.h
index 30899ca7b..2088a7837 100644
--- a/gtsam/hybrid/GaussianMixtureFactor.h
+++ b/gtsam/hybrid/GaussianMixtureFactor.h
@@ -152,6 +152,7 @@ class GTSAM_EXPORT GaussianMixtureFactor : public HybridFactor {
   /// @}
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template <class ARCHIVE>
@@ -159,6 +160,7 @@ class GTSAM_EXPORT GaussianMixtureFactor : public HybridFactor {
     ar &BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
     ar &BOOST_SERIALIZATION_NVP(factors_);
   }
+#endif
 };
 
 // traits
diff --git a/gtsam/hybrid/HybridBayesNet.h b/gtsam/hybrid/HybridBayesNet.h
index ef35ae29d..2b0042b8d 100644
--- a/gtsam/hybrid/HybridBayesNet.h
+++ b/gtsam/hybrid/HybridBayesNet.h
@@ -228,12 +228,14 @@ class GTSAM_EXPORT HybridBayesNet : public BayesNet<HybridConditional> {
    */
   void updateDiscreteConditionals(const DecisionTreeFactor &prunedDecisionTree);
 
+#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
 };
 
 /// traits
diff --git a/gtsam/hybrid/HybridBayesTree.h b/gtsam/hybrid/HybridBayesTree.h
index 236ebf8b7..e0e6db98e 100644
--- a/gtsam/hybrid/HybridBayesTree.h
+++ b/gtsam/hybrid/HybridBayesTree.h
@@ -114,12 +114,14 @@ class GTSAM_EXPORT HybridBayesTree : public BayesTree<HybridBayesTreeClique> {
   /// @}
 
  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
 };
 
 /// traits
diff --git a/gtsam/hybrid/HybridConditional.h b/gtsam/hybrid/HybridConditional.h
index b38942bf5..64bdcb2c1 100644
--- a/gtsam/hybrid/HybridConditional.h
+++ b/gtsam/hybrid/HybridConditional.h
@@ -204,6 +204,7 @@ class GTSAM_EXPORT HybridConditional
   /// @}
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template <class Archive>
@@ -225,6 +226,7 @@ class GTSAM_EXPORT HybridConditional
           static_cast<GaussianMixture*>(NULL), static_cast<Factor*>(NULL));
     }
   }
+#endif
 
 };  // HybridConditional
 
diff --git a/gtsam/hybrid/HybridFactor.h b/gtsam/hybrid/HybridFactor.h
index ebd1d289a..8fa23b1f9 100644
--- a/gtsam/hybrid/HybridFactor.h
+++ b/gtsam/hybrid/HybridFactor.h
@@ -137,6 +137,7 @@ class GTSAM_EXPORT HybridFactor : public Factor {
   /// @}
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template <class ARCHIVE>
@@ -148,6 +149,7 @@ class GTSAM_EXPORT HybridFactor : public Factor {
     ar &BOOST_SERIALIZATION_NVP(discreteKeys_);
     ar &BOOST_SERIALIZATION_NVP(continuousKeys_);
   }
+#endif
 };
 // HybridFactor
 
diff --git a/gtsam/hybrid/tests/CMakeLists.txt b/gtsam/hybrid/tests/CMakeLists.txt
index 06ad2c505..ddb5ff640 100644
--- a/gtsam/hybrid/tests/CMakeLists.txt
+++ b/gtsam/hybrid/tests/CMakeLists.txt
@@ -1 +1,9 @@
-gtsamAddTestsGlob(hybrid "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 "testSerializationHybrid.cpp")
+else()
+  set(EXCLUDE_TESTS "")
+endif()
+
+gtsamAddTestsGlob(hybrid "test*.cpp" "${EXCLUDE_TESTS}" "gtsam")
diff --git a/gtsam/inference/BayesTree.h b/gtsam/inference/BayesTree.h
index d9450e107..85bc710b1 100644
--- a/gtsam/inference/BayesTree.h
+++ b/gtsam/inference/BayesTree.h
@@ -259,6 +259,7 @@ namespace gtsam {
     template<class BAYESTREE, class GRAPH> friend class EliminatableClusterTree;
 
    private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     /** Serialization function */
     friend class boost::serialization::access;
     template<class ARCHIVE>
@@ -266,6 +267,7 @@ namespace gtsam {
       ar & BOOST_SERIALIZATION_NVP(nodes_);
       ar & BOOST_SERIALIZATION_NVP(roots_);
     }
+#endif
 
     /// @}
 
diff --git a/gtsam/inference/BayesTreeCliqueBase.h b/gtsam/inference/BayesTreeCliqueBase.h
index a50c4bec9..976d1a7f2 100644
--- a/gtsam/inference/BayesTreeCliqueBase.h
+++ b/gtsam/inference/BayesTreeCliqueBase.h
@@ -199,6 +199,7 @@ namespace gtsam {
 
   private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     /** Serialization function */
     friend class boost::serialization::access;
     template<class ARCHIVE>
@@ -213,6 +214,7 @@ namespace gtsam {
       }
       ar & BOOST_SERIALIZATION_NVP(children);
     }
+#endif
 
     /// @}
 
diff --git a/gtsam/inference/Conditional.h b/gtsam/inference/Conditional.h
index ba7b6897e..9f08e5623 100644
--- a/gtsam/inference/Conditional.h
+++ b/gtsam/inference/Conditional.h
@@ -213,12 +213,14 @@ namespace gtsam {
     // Cast to derived type (const) (casts down to derived conditional type, then up to factor type)
     const FACTOR& asFactor() const { return static_cast<const FACTOR&>(static_cast<const DERIVEDCONDITIONAL&>(*this)); }
 
+#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(nrFrontals_);
     }
+#endif
 
     /// @}
 
diff --git a/gtsam/inference/Factor.h b/gtsam/inference/Factor.h
index 74baa4508..e357a9c88 100644
--- a/gtsam/inference/Factor.h
+++ b/gtsam/inference/Factor.h
@@ -21,7 +21,9 @@
 
 #pragma once
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/nvp.hpp>
+#endif
 #include <memory>
 
 #include <gtsam/base/types.h>
@@ -190,16 +192,16 @@ namespace gtsam {
     /// @}
 
   private:
-
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     /// @name Serialization
     /// @{
-
     /** Serialization function */
     friend class boost::serialization::access;
     template<class Archive>
     void serialize(Archive & ar, const unsigned int /*version*/) {
       ar & BOOST_SERIALIZATION_NVP(keys_);
     }
+#endif
 
     /// @}
 
diff --git a/gtsam/inference/FactorGraph.h b/gtsam/inference/FactorGraph.h
index 62259dd31..caaa13cae 100644
--- a/gtsam/inference/FactorGraph.h
+++ b/gtsam/inference/FactorGraph.h
@@ -30,8 +30,10 @@
 #include <Eigen/Core>  // for Eigen::aligned_allocator
 
 #include <boost/assign/list_inserter.hpp>
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/nvp.hpp>
 #include <boost/serialization/vector.hpp>
+#endif
 
 #include <string>
 #include <type_traits>
@@ -433,12 +435,14 @@ class FactorGraph {
   inline bool exists(size_t idx) const { return idx < size() && at(idx); }
 
  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(factors_);
   }
+#endif
 
   /// @}
 };  // FactorGraph
diff --git a/gtsam/inference/LabeledSymbol.h b/gtsam/inference/LabeledSymbol.h
index 5aee4a0e2..5a7a98c1d 100644
--- a/gtsam/inference/LabeledSymbol.h
+++ b/gtsam/inference/LabeledSymbol.h
@@ -112,6 +112,7 @@ public:
 
 private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -120,6 +121,7 @@ private:
     ar & BOOST_SERIALIZATION_NVP(label_);
     ar & BOOST_SERIALIZATION_NVP(j_);
   }
+#endif
 }; // \class LabeledSymbol
 
 /** Create a symbol key from a character, label and index, i.e. xA5. */
diff --git a/gtsam/inference/Ordering.h b/gtsam/inference/Ordering.h
index 5841203fb..ad41aa5bb 100644
--- a/gtsam/inference/Ordering.h
+++ b/gtsam/inference/Ordering.h
@@ -256,12 +256,14 @@ private:
   static GTSAM_EXPORT Ordering ColamdConstrained(
       const VariableIndex& variableIndex, std::vector<int>& cmember);
 
+#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
 };
 
 /// traits
diff --git a/gtsam/inference/Symbol.h b/gtsam/inference/Symbol.h
index 017d5134a..6ae5188cf 100644
--- a/gtsam/inference/Symbol.h
+++ b/gtsam/inference/Symbol.h
@@ -21,7 +21,9 @@
 #include <gtsam/base/Testable.h>
 #include <gtsam/inference/Key.h>
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/nvp.hpp>
+#endif
 #include <cstdint>
 #include <functional>
 
@@ -122,6 +124,7 @@ public:
 
 private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -129,6 +132,7 @@ private:
     ar & BOOST_SERIALIZATION_NVP(c_);
     ar & BOOST_SERIALIZATION_NVP(j_);
   }
+#endif
 };
 
 /** Create a symbol key from a character and index, i.e. x5. */
diff --git a/gtsam/inference/VariableIndex.h b/gtsam/inference/VariableIndex.h
index 9573f5988..207ded0ce 100644
--- a/gtsam/inference/VariableIndex.h
+++ b/gtsam/inference/VariableIndex.h
@@ -190,6 +190,7 @@ protected:
   }
 
 private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -198,6 +199,7 @@ private:
     ar & BOOST_SERIALIZATION_NVP(nFactors_);
     ar & BOOST_SERIALIZATION_NVP(nEntries_);
   }
+#endif
 
   /// @}
 };
diff --git a/gtsam/linear/GaussianBayesNet.h b/gtsam/linear/GaussianBayesNet.h
index ee9377eea..39528b810 100644
--- a/gtsam/linear/GaussianBayesNet.h
+++ b/gtsam/linear/GaussianBayesNet.h
@@ -256,12 +256,14 @@ 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_BASE_OBJECT_NVP(Base);
     }
+#endif
   };
 
   /// traits
diff --git a/gtsam/linear/GaussianConditional.h b/gtsam/linear/GaussianConditional.h
index 1bc70d69a..f99006831 100644
--- a/gtsam/linear/GaussianConditional.h
+++ b/gtsam/linear/GaussianConditional.h
@@ -274,6 +274,7 @@ namespace gtsam {
     /// @}
 
    private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     /** Serialization function */
     friend class boost::serialization::access;
     template<class Archive>
@@ -281,6 +282,7 @@ namespace gtsam {
       ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(BaseFactor);
       ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(BaseConditional);
     }
+#endif
   }; // GaussianConditional
 
 /// traits
diff --git a/gtsam/linear/GaussianFactor.h b/gtsam/linear/GaussianFactor.h
index 4e7e92b74..3304829e2 100644
--- a/gtsam/linear/GaussianFactor.h
+++ b/gtsam/linear/GaussianFactor.h
@@ -163,12 +163,14 @@ 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_BASE_OBJECT_NVP(Base);
     }
+#endif
 
   }; // GaussianFactor
 
diff --git a/gtsam/linear/GaussianFactorGraph.h b/gtsam/linear/GaussianFactorGraph.h
index f8a24245d..d517de77b 100644
--- a/gtsam/linear/GaussianFactorGraph.h
+++ b/gtsam/linear/GaussianFactorGraph.h
@@ -403,12 +403,14 @@ 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_BASE_OBJECT_NVP(Base);
     }
+#endif
   };
 
   /**
diff --git a/gtsam/linear/HessianFactor.h b/gtsam/linear/HessianFactor.h
index 0d67030d7..eb1fe2de2 100644
--- a/gtsam/linear/HessianFactor.h
+++ b/gtsam/linear/HessianFactor.h
@@ -363,6 +363,7 @@ namespace gtsam {
     friend class NonlinearFactorGraph;
     friend class NonlinearClusterTree;
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     /** Serialization function */
     friend class boost::serialization::access;
     template<class ARCHIVE>
@@ -370,6 +371,7 @@ namespace gtsam {
       ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(GaussianFactor);
       ar & BOOST_SERIALIZATION_NVP(info_);
     }
+#endif
   };
 
 /**
diff --git a/gtsam/linear/JacobianFactor.h b/gtsam/linear/JacobianFactor.h
index 40b109b11..375e82698 100644
--- a/gtsam/linear/JacobianFactor.h
+++ b/gtsam/linear/JacobianFactor.h
@@ -24,8 +24,10 @@
 #include <gtsam/global_includes.h>
 #include <gtsam/inference/VariableSlots.h>
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/version.hpp>
 #include <boost/serialization/split_member.hpp>
+#endif
 
 namespace gtsam {
 
@@ -413,6 +415,7 @@ namespace gtsam {
     // be very selective on who can access these private methods:
     template<typename T> friend class ExpressionFactor;
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     /** Serialization function */
     friend class boost::serialization::access;
     template<class ARCHIVE>
@@ -450,6 +453,7 @@ namespace gtsam {
     }
 
     BOOST_SERIALIZATION_SPLIT_MEMBER()
+#endif
   }; // JacobianFactor
 /// traits
 template<>
@@ -458,7 +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>
 
diff --git a/gtsam/linear/LossFunctions.h b/gtsam/linear/LossFunctions.h
index c84ea68fe..70166d97e 100644
--- a/gtsam/linear/LossFunctions.h
+++ b/gtsam/linear/LossFunctions.h
@@ -23,12 +23,14 @@
 #include <gtsam/base/Testable.h>
 #include <gtsam/dllexport.h>
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/extended_type_info.hpp>
 #include <boost/serialization/nvp.hpp>
 #include <boost/serialization/version.hpp>
 #include <boost/serialization/optional.hpp>
 #include <boost/serialization/shared_ptr.hpp>
 #include <boost/serialization/singleton.hpp>
+#endif
 
 namespace gtsam {
 namespace noiseModel {
@@ -126,12 +128,14 @@ class GTSAM_EXPORT Base {
   void reweight(Matrix &A1, Matrix &A2, Matrix &A3, Vector &error) const;
 
  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(reweight_);
   }
+#endif
 };
 
 /** "Null" robust loss function, equivalent to a Gaussian pdf noise model, or
@@ -156,12 +160,14 @@ 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)
@@ -188,6 +194,7 @@ 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>
@@ -195,6 +202,7 @@ 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).
@@ -221,6 +229,7 @@ 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>
@@ -228,6 +237,7 @@ 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).
@@ -259,6 +269,7 @@ 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>
@@ -267,6 +278,7 @@ 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).
@@ -293,6 +305,7 @@ 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>
@@ -300,6 +313,7 @@ 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).
@@ -326,6 +340,7 @@ 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>
@@ -334,6 +349,7 @@ 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).
@@ -363,6 +379,7 @@ class GTSAM_EXPORT GemanMcClure : public Base {
   double c_;
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template <class ARCHIVE>
@@ -370,6 +387,7 @@ 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
@@ -401,6 +419,7 @@ class GTSAM_EXPORT DCS : public Base {
   double c_;
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template <class ARCHIVE>
@@ -408,6 +427,7 @@ 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
@@ -439,6 +459,7 @@ 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>
@@ -446,6 +467,7 @@ class GTSAM_EXPORT L2WithDeadZone : public Base {
     ar &BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
     ar &BOOST_SERIALIZATION_NVP(k_);
   }
+#endif
 };
 
 }  // namespace mEstimator
diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h
index 645584e2d..72069f9f4 100644
--- a/gtsam/linear/NoiseModel.h
+++ b/gtsam/linear/NoiseModel.h
@@ -24,10 +24,12 @@
 #include <gtsam/dllexport.h>
 #include <gtsam/linear/LossFunctions.h>
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/nvp.hpp>
 #include <boost/serialization/extended_type_info.hpp>
 #include <boost/serialization/singleton.hpp>
 #include <boost/serialization/shared_ptr.hpp>
+#endif
 
 #include <optional>
 
@@ -139,12 +141,14 @@ namespace gtsam {
       virtual double weight(const Vector& v) const { return 1.0; }
 
     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(dim_);
       }
+#endif
     };
 
     //---------------------------------------------------------------------------------------
@@ -263,6 +267,7 @@ namespace gtsam {
       virtual Matrix covariance() const;
 
     private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
       /** Serialization function */
       friend class boost::serialization::access;
       template<class ARCHIVE>
@@ -270,7 +275,7 @@ namespace gtsam {
         ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
         ar & BOOST_SERIALIZATION_NVP(sqrt_information_);
       }
-
+#endif
     }; // Gaussian
 
     //---------------------------------------------------------------------------------------
@@ -356,6 +361,7 @@ namespace gtsam {
       }
 
     private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
       /** Serialization function */
       friend class boost::serialization::access;
       template<class ARCHIVE>
@@ -364,6 +370,7 @@ namespace gtsam {
         ar & BOOST_SERIALIZATION_NVP(sigmas_);
         ar & BOOST_SERIALIZATION_NVP(invsigmas_);
       }
+#endif
     }; // Diagonal
 
     //---------------------------------------------------------------------------------------
@@ -499,6 +506,7 @@ namespace gtsam {
       shared_ptr unit() const;
 
     private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
       /** Serialization function */
       friend class boost::serialization::access;
       template<class ARCHIVE>
@@ -506,6 +514,7 @@ namespace gtsam {
         ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Diagonal);
         ar & BOOST_SERIALIZATION_NVP(mu_);
       }
+#endif
 
     }; // Constrained
 
@@ -567,6 +576,7 @@ namespace gtsam {
       inline double sigma() const { return sigma_; }
 
     private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
       /** Serialization function */
       friend class boost::serialization::access;
       template<class ARCHIVE>
@@ -575,6 +585,7 @@ namespace gtsam {
         ar & BOOST_SERIALIZATION_NVP(sigma_);
         ar & BOOST_SERIALIZATION_NVP(invsigma_);
       }
+#endif
 
     };
 
@@ -616,12 +627,14 @@ 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
     };
 
     /**
@@ -705,6 +718,7 @@ 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>
@@ -713,6 +727,7 @@ 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
diff --git a/gtsam/linear/SubgraphBuilder.cpp b/gtsam/linear/SubgraphBuilder.cpp
index a9a407a1c..97d681547 100644
--- a/gtsam/linear/SubgraphBuilder.cpp
+++ b/gtsam/linear/SubgraphBuilder.cpp
@@ -27,7 +27,9 @@
 #include <boost/algorithm/string.hpp>
 #include <boost/archive/text_iarchive.hpp>
 #include <boost/archive/text_oarchive.hpp>
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/vector.hpp>
+#endif
 
 #include <algorithm>
 #include <cmath>
@@ -91,6 +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());
@@ -108,6 +111,7 @@ Subgraph Subgraph::load(const std::string &fn) {
   is.close();
   return subgraph;
 }
+#endif
 
 /****************************************************************************/
 ostream &operator<<(ostream &os, const Subgraph::Edge &edge) {
diff --git a/gtsam/linear/SubgraphBuilder.h b/gtsam/linear/SubgraphBuilder.h
index 925fdef33..fe8f704dc 100644
--- a/gtsam/linear/SubgraphBuilder.h
+++ b/gtsam/linear/SubgraphBuilder.h
@@ -21,8 +21,10 @@
 #include <gtsam/base/types.h>
 #include <gtsam/dllexport.h>
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/version.hpp>
 #include <boost/serialization/nvp.hpp>
+#endif
 #include <memory>
 
 #include <vector>
@@ -49,12 +51,14 @@ class GTSAM_EXPORT Subgraph {
     friend std::ostream &operator<<(std::ostream &os, const Edge &edge);
 
    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(index);
       ar &BOOST_SERIALIZATION_NVP(weight);
     }
+#endif
   };
 
   typedef std::vector<Edge> Edges;
@@ -80,16 +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
 };
 
 /****************************************************************************/
diff --git a/gtsam/linear/VectorValues.h b/gtsam/linear/VectorValues.h
index 29cea3976..bb5bbc794 100644
--- a/gtsam/linear/VectorValues.h
+++ b/gtsam/linear/VectorValues.h
@@ -368,12 +368,14 @@ 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(values_);
     }
+#endif
   }; // VectorValues definition
 
   /// traits
diff --git a/gtsam/linear/tests/CMakeLists.txt b/gtsam/linear/tests/CMakeLists.txt
index d1aafb4ea..a99a5eb42 100644
--- a/gtsam/linear/tests/CMakeLists.txt
+++ b/gtsam/linear/tests/CMakeLists.txt
@@ -1,6 +1,15 @@
-gtsamAddTestsGlob(linear "test*.cpp" "" "gtsam")
-
-if(MSVC)
-	set_property(SOURCE "${CMAKE_CURRENT_SOURCE_DIR}/testSerializationLinear.cpp"
-		APPEND PROPERTY COMPILE_FLAGS "/bigobj")
+# if GTSAM_ENABLE_BOOST_SERIALIZATION is OFF then exclude some tests
+if (NOT GTSAM_ENABLE_BOOST_SERIALIZATION)
+  # create a semicolon seperated list of files to exclude
+	set(EXCLUDE_TESTS "testSerializationLinear.cpp")
+else()
+  set(EXCLUDE_TESTS "")
+endif()
+
+gtsamAddTestsGlob(linear "test*.cpp" "${EXCLUDE_TESTS}" "gtsam")
+
+# Set properties to serialization target if Boost serialization is enabled and MSVC
+if (GTSAM_ENABLE_BOOST_SERIALIZATION AND MSVC)
+		set_property(SOURCE "${CMAKE_CURRENT_SOURCE_DIR}/testSerializationLinear.cpp"
+			APPEND PROPERTY COMPILE_FLAGS "/bigobj")
 endif()
diff --git a/gtsam/navigation/AHRSFactor.h b/gtsam/navigation/AHRSFactor.h
index bf7ef56b0..05439bafc 100644
--- a/gtsam/navigation/AHRSFactor.h
+++ b/gtsam/navigation/AHRSFactor.h
@@ -120,6 +120,7 @@ class GTSAM_EXPORT PreintegratedAhrsMeasurements : public PreintegratedRotation
 
 private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -128,6 +129,7 @@ private:
     ar & BOOST_SERIALIZATION_NVP(p_);
     ar & BOOST_SERIALIZATION_NVP(biasHat_);
   }
+#endif
 };
 
 class GTSAM_EXPORT AHRSFactor: public NoiseModelFactorN<Rot3, Rot3, Vector3> {
@@ -206,6 +208,7 @@ public:
 
 private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -216,6 +219,7 @@ private:
             boost::serialization::base_object<Base>(*this));
     ar & BOOST_SERIALIZATION_NVP(_PIM_);
   }
+#endif
 
 };
 // AHRSFactor
diff --git a/gtsam/navigation/AttitudeFactor.h b/gtsam/navigation/AttitudeFactor.h
index b412d4d26..d61db2166 100644
--- a/gtsam/navigation/AttitudeFactor.h
+++ b/gtsam/navigation/AttitudeFactor.h
@@ -63,6 +63,7 @@ public:
     return bRef_;
   }
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -70,6 +71,7 @@ public:
     ar & boost::serialization::make_nvp("nZ_",  nZ_);
     ar & boost::serialization::make_nvp("bRef_", bRef_);
   }
+#endif
 };
 
 /**
@@ -130,6 +132,7 @@ public:
 
 private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -140,6 +143,7 @@ private:
     ar & boost::serialization::make_nvp("AttitudeFactor",
         boost::serialization::base_object<AttitudeFactor>(*this));
   }
+#endif
 
 public:
   GTSAM_MAKE_ALIGNED_OPERATOR_NEW
@@ -213,6 +217,7 @@ public:
 
 private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -223,6 +228,7 @@ private:
     ar & boost::serialization::make_nvp("AttitudeFactor",
         boost::serialization::base_object<AttitudeFactor>(*this));
   }
+#endif
 
 public:
   GTSAM_MAKE_ALIGNED_OPERATOR_NEW
diff --git a/gtsam/navigation/BarometricFactor.h b/gtsam/navigation/BarometricFactor.h
index c7cf939af..cf1c147bf 100644
--- a/gtsam/navigation/BarometricFactor.h
+++ b/gtsam/navigation/BarometricFactor.h
@@ -97,6 +97,7 @@ class GTSAM_EXPORT BarometricFactor : public NoiseModelFactorN<Pose3, double> {
     };
 
    private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION    ///
     /// Serialization function
     friend class boost::serialization::access;
     template <class ARCHIVE>
@@ -107,6 +108,7 @@ class GTSAM_EXPORT BarometricFactor : public NoiseModelFactorN<Pose3, double> {
             boost::serialization::base_object<Base>(*this));
         ar& BOOST_SERIALIZATION_NVP(nT_);
     }
+#endif
 };
 
 }  // namespace gtsam
diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp
index e6dc6e675..1a0126107 100644
--- a/gtsam/navigation/CombinedImuFactor.cpp
+++ b/gtsam/navigation/CombinedImuFactor.cpp
@@ -21,7 +21,9 @@
  **/
 
 #include <gtsam/navigation/CombinedImuFactor.h>
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/export.hpp>
+#endif
 
 /* External or standard includes */
 #include <ostream>
diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h
index 407bf9ace..94a37c2d2 100644
--- a/gtsam/navigation/CombinedImuFactor.h
+++ b/gtsam/navigation/CombinedImuFactor.h
@@ -101,6 +101,7 @@ struct GTSAM_EXPORT PreintegrationCombinedParams : PreintegrationParams {
   
 private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template <class ARCHIVE>
@@ -111,6 +112,7 @@ private:
     ar & BOOST_SERIALIZATION_NVP(biasOmegaCovariance);
     ar & BOOST_SERIALIZATION_NVP(biasAccOmegaInt);
   }
+#endif
 
 public:
   GTSAM_MAKE_ALIGNED_OPERATOR_NEW
@@ -223,6 +225,7 @@ public:
   /// @}
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  ///
   /// Serialization function
   friend class boost::serialization::access;
   template <class ARCHIVE>
@@ -231,6 +234,7 @@ public:
     ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegrationType);
     ar& BOOST_SERIALIZATION_NVP(preintMeasCov_);
   }
+#endif
 
 public:
   GTSAM_MAKE_ALIGNED_OPERATOR_NEW
diff --git a/gtsam/navigation/GPSFactor.h b/gtsam/navigation/GPSFactor.h
index dbc164d1a..cd89dd464 100644
--- a/gtsam/navigation/GPSFactor.h
+++ b/gtsam/navigation/GPSFactor.h
@@ -97,6 +97,7 @@ public:
 
 private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  ///
   /// Serialization function
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -107,6 +108,7 @@ private:
             boost::serialization::base_object<Base>(*this));
     ar & BOOST_SERIALIZATION_NVP(nT_);
   }
+#endif
 };
 
 /**
@@ -164,6 +166,7 @@ public:
 
 private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /// Serialization function
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -174,6 +177,7 @@ private:
             boost::serialization::base_object<Base>(*this));
     ar & BOOST_SERIALIZATION_NVP(nT_);
   }
+#endif
 };
 
 } /// namespace gtsam
diff --git a/gtsam/navigation/ImuBias.h b/gtsam/navigation/ImuBias.h
index 9e337028a..6df87eda6 100644
--- a/gtsam/navigation/ImuBias.h
+++ b/gtsam/navigation/ImuBias.h
@@ -20,7 +20,9 @@
 #include <gtsam/base/OptionalJacobian.h>
 #include <gtsam/base/VectorSpace.h>
 #include <iosfwd>
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/nvp.hpp>
+#endif
 
 namespace gtsam {
 
@@ -140,6 +142,7 @@ private:
   /// @name Advanced Interface
   /// @{
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -147,6 +150,7 @@ private:
     ar & BOOST_SERIALIZATION_NVP(biasAcc_);
     ar & BOOST_SERIALIZATION_NVP(biasGyro_);
   }
+#endif
 
 
 public:
diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h
index 3134a8916..59ff688af 100644
--- a/gtsam/navigation/ImuFactor.h
+++ b/gtsam/navigation/ImuFactor.h
@@ -146,6 +146,7 @@ public:
 #endif
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  ///
   /// Serialization function
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -154,6 +155,7 @@ public:
     ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegrationType);
     ar & BOOST_SERIALIZATION_NVP(preintMeasCov_);
   }
+#endif
 };
 
 /**
@@ -246,6 +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*/) {
@@ -254,6 +257,7 @@ public:
          boost::serialization::base_object<Base>(*this));
     ar & BOOST_SERIALIZATION_NVP(_PIM_);
   }
+#endif
 };
 // class ImuFactor
 
diff --git a/gtsam/navigation/MagPoseFactor.h b/gtsam/navigation/MagPoseFactor.h
index 45adb2383..ba9a08d78 100644
--- a/gtsam/navigation/MagPoseFactor.h
+++ b/gtsam/navigation/MagPoseFactor.h
@@ -132,6 +132,7 @@ class MagPoseFactor: public NoiseModelFactorN<POSE> {
   }
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  ///
   /// Serialization function.
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -144,6 +145,7 @@ class MagPoseFactor: public NoiseModelFactorN<POSE> {
     ar & BOOST_SERIALIZATION_NVP(bias_);
     ar & BOOST_SERIALIZATION_NVP(body_P_sensor_);
   }
+#endif
 };  // \class MagPoseFactor
 
 } /// namespace gtsam
diff --git a/gtsam/navigation/ManifoldPreintegration.h b/gtsam/navigation/ManifoldPreintegration.h
index 0f71ec416..a8c97477b 100644
--- a/gtsam/navigation/ManifoldPreintegration.h
+++ b/gtsam/navigation/ManifoldPreintegration.h
@@ -113,6 +113,7 @@ public:
   /// @}
 
 private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -126,6 +127,7 @@ private:
     ar & BOOST_SERIALIZATION_NVP(delVdelBiasAcc_);
     ar & BOOST_SERIALIZATION_NVP(delVdelBiasOmega_);
   }
+#endif
 };
 
 } /// namespace gtsam
diff --git a/gtsam/navigation/NavState.h b/gtsam/navigation/NavState.h
index 5e44e16c2..f778a7123 100644
--- a/gtsam/navigation/NavState.h
+++ b/gtsam/navigation/NavState.h
@@ -190,6 +190,7 @@ public:
 private:
   /// @{
   /// serialization
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  ///
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
@@ -197,6 +198,7 @@ private:
     ar & BOOST_SERIALIZATION_NVP(t_);
     ar & BOOST_SERIALIZATION_NVP(v_);
   }
+#endif
   /// @}
 };
 
diff --git a/gtsam/navigation/PreintegratedRotation.h b/gtsam/navigation/PreintegratedRotation.h
index 05489c5fb..c80399f14 100644
--- a/gtsam/navigation/PreintegratedRotation.h
+++ b/gtsam/navigation/PreintegratedRotation.h
@@ -60,6 +60,7 @@ struct GTSAM_EXPORT PreintegratedRotationParams {
   std::optional<Pose3>   getBodyPSensor()   const { return body_P_sensor; }
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -75,6 +76,7 @@ struct GTSAM_EXPORT PreintegratedRotationParams {
       ar & BOOST_SERIALIZATION_NVP(*omegaCoriolis);
     }
   }
+#endif
 
 #ifdef GTSAM_USE_QUATERNIONS
   // Align if we are using Quaternions
@@ -179,6 +181,7 @@ class GTSAM_EXPORT PreintegratedRotation {
   /// @}
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template <class ARCHIVE>
@@ -188,6 +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
diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h
index 1a5366c6c..e4a790b9d 100644
--- a/gtsam/navigation/PreintegrationBase.h
+++ b/gtsam/navigation/PreintegrationBase.h
@@ -173,6 +173,7 @@ class GTSAM_EXPORT PreintegrationBase {
       OptionalJacobian<9, 6> H5 = {}) const;
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -181,6 +182,7 @@ class GTSAM_EXPORT PreintegrationBase {
     ar & BOOST_SERIALIZATION_NVP(biasHat_);
     ar & BOOST_SERIALIZATION_NVP(deltaTij_);
   }
+#endif
 
  public:
   GTSAM_MAKE_ALIGNED_OPERATOR_NEW
diff --git a/gtsam/navigation/PreintegrationParams.h b/gtsam/navigation/PreintegrationParams.h
index ab32343b8..4350c7ebd 100644
--- a/gtsam/navigation/PreintegrationParams.h
+++ b/gtsam/navigation/PreintegrationParams.h
@@ -71,6 +71,7 @@ struct GTSAM_EXPORT PreintegrationParams: PreintegratedRotationParams {
 
 protected:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -82,6 +83,7 @@ protected:
     ar & BOOST_SERIALIZATION_NVP(use2ndOrderCoriolis);
     ar & BOOST_SERIALIZATION_NVP(n_gravity);
   }
+#endif
 
 #ifdef GTSAM_USE_QUATERNIONS
   // Align if we are using Quaternions
diff --git a/gtsam/navigation/TangentPreintegration.h b/gtsam/navigation/TangentPreintegration.h
index d03df5cb8..e16ad9310 100644
--- a/gtsam/navigation/TangentPreintegration.h
+++ b/gtsam/navigation/TangentPreintegration.h
@@ -127,6 +127,7 @@ 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(preintegrated_H_biasAcc_);
     ar & BOOST_SERIALIZATION_NVP(preintegrated_H_biasOmega_);
   }
+#endif
 
 public:
   GTSAM_MAKE_ALIGNED_OPERATOR_NEW
diff --git a/gtsam/navigation/tests/CMakeLists.txt b/gtsam/navigation/tests/CMakeLists.txt
index 0beca7769..a7212da34 100644
--- a/gtsam/navigation/tests/CMakeLists.txt
+++ b/gtsam/navigation/tests/CMakeLists.txt
@@ -24,4 +24,9 @@ else()
   endif()
 endif()
 
+# if GTSAM_ENABLE_BOOST_SERIALIZATION is OFF then exclude some tests
+if (NOT GTSAM_ENABLE_BOOST_SERIALIZATION)
+  list(APPEND tests_excluded testSerializationNavigation.cpp)
+endif()
+
 gtsamAddTestsGlob(navigation "test*.cpp" "${tests_excluded}" "${test_link_libraries}")
diff --git a/gtsam/nonlinear/CustomFactor.h b/gtsam/nonlinear/CustomFactor.h
index 60dbcdaf2..d486e6f0d 100644
--- a/gtsam/nonlinear/CustomFactor.h
+++ b/gtsam/nonlinear/CustomFactor.h
@@ -90,6 +90,7 @@ public:
 
 private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -97,6 +98,7 @@ private:
     ar & boost::serialization::make_nvp("CustomFactor",
                                         boost::serialization::base_object<Base>(*this));
   }
+#endif
 };
 
 }
diff --git a/gtsam/nonlinear/ExpressionFactor.h b/gtsam/nonlinear/ExpressionFactor.h
index f859b3d92..8c4e8ce86 100644
--- a/gtsam/nonlinear/ExpressionFactor.h
+++ b/gtsam/nonlinear/ExpressionFactor.h
@@ -198,6 +198,7 @@ protected:
  }
 
 private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
  /// Save to an archive: just saves the base class
  template <class Archive>
  void save(Archive& ar, const unsigned int /*version*/) const {
@@ -218,6 +219,7 @@ private:
  BOOST_SERIALIZATION_SPLIT_MEMBER()
 
  friend class boost::serialization::access;
+#endif
 
  // Alignment, see https://eigen.tuxfamily.org/dox/group__TopicStructHavingEigenMembers.html
  enum { NeedsToAlign = (sizeof(T) % 16) == 0 };
diff --git a/gtsam/nonlinear/FunctorizedFactor.h b/gtsam/nonlinear/FunctorizedFactor.h
index de82da05f..128de5847 100644
--- a/gtsam/nonlinear/FunctorizedFactor.h
+++ b/gtsam/nonlinear/FunctorizedFactor.h
@@ -119,6 +119,7 @@ class FunctorizedFactor : public NoiseModelFactorN<T> {
   /// @}
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template <class ARCHIVE>
@@ -129,6 +130,7 @@ class FunctorizedFactor : public NoiseModelFactorN<T> {
     ar &BOOST_SERIALIZATION_NVP(measured_);
     ar &BOOST_SERIALIZATION_NVP(func_);
   }
+#endif
 };
 
 /// traits
@@ -229,6 +231,7 @@ class FunctorizedFactor2 : public NoiseModelFactorN<T1, T2> {
   /// @}
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template <class ARCHIVE>
@@ -239,6 +242,7 @@ class FunctorizedFactor2 : public NoiseModelFactorN<T1, T2> {
     ar &BOOST_SERIALIZATION_NVP(measured_);
     ar &BOOST_SERIALIZATION_NVP(func_);
   }
+#endif
 };
 
 /// traits
diff --git a/gtsam/nonlinear/ISAM2.h b/gtsam/nonlinear/ISAM2.h
index 8b48f2f7d..50c5058c2 100644
--- a/gtsam/nonlinear/ISAM2.h
+++ b/gtsam/nonlinear/ISAM2.h
@@ -340,6 +340,7 @@ class GTSAM_EXPORT ISAM2 : public BayesTree<ISAM2Clique> {
   void updateDelta(bool forceFullSolve = false) const;
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -357,6 +358,7 @@ class GTSAM_EXPORT ISAM2 : public BayesTree<ISAM2Clique> {
       ar & BOOST_SERIALIZATION_NVP(fixedVariables_);
       ar & BOOST_SERIALIZATION_NVP(update_count_);
   }
+#endif
 
 };  // ISAM2
 
diff --git a/gtsam/nonlinear/ISAM2Clique.h b/gtsam/nonlinear/ISAM2Clique.h
index 0b1d567d2..08b74ef26 100644
--- a/gtsam/nonlinear/ISAM2Clique.h
+++ b/gtsam/nonlinear/ISAM2Clique.h
@@ -147,6 +147,7 @@ class GTSAM_EXPORT ISAM2Clique
   void restoreFromOriginals(const Vector& originalValues,
                             VectorValues* delta) const;
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template <class ARCHIVE>
@@ -155,6 +156,7 @@ class GTSAM_EXPORT ISAM2Clique
     ar& BOOST_SERIALIZATION_NVP(cachedFactor_);
     ar& BOOST_SERIALIZATION_NVP(gradientContribution_);
   }
+#endif
 };  // \struct ISAM2Clique
 
 /**
diff --git a/gtsam/nonlinear/LinearContainerFactor.h b/gtsam/nonlinear/LinearContainerFactor.h
index 0442f4780..dfbf221c3 100644
--- a/gtsam/nonlinear/LinearContainerFactor.h
+++ b/gtsam/nonlinear/LinearContainerFactor.h
@@ -163,6 +163,7 @@ public:
   void initializeLinearizationPoint(const Values& linearizationPoint);
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -172,6 +173,7 @@ public:
     ar & BOOST_SERIALIZATION_NVP(factor_);
     ar & BOOST_SERIALIZATION_NVP(linearizationPoint_);
   }
+#endif
 
 }; // \class LinearContainerFactor
 
diff --git a/gtsam/nonlinear/NonlinearEquality.h b/gtsam/nonlinear/NonlinearEquality.h
index 022fb4523..c8ab0c2af 100644
--- a/gtsam/nonlinear/NonlinearEquality.h
+++ b/gtsam/nonlinear/NonlinearEquality.h
@@ -182,6 +182,7 @@ public:
 
 private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  ///
   /// Serialization function
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -194,6 +195,7 @@ private:
     ar & BOOST_SERIALIZATION_NVP(allow_error_);
     ar & BOOST_SERIALIZATION_NVP(error_gain_);
   }
+#endif
 
 };
 // \class NonlinearEquality
@@ -273,6 +275,7 @@ public:
 
 private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  ///
   /// Serialization function
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -283,6 +286,7 @@ private:
             boost::serialization::base_object<Base>(*this));
     ar & BOOST_SERIALIZATION_NVP(value_);
   }
+#endif
 };
 // \NonlinearEquality1
 
diff --git a/gtsam/nonlinear/NonlinearFactor.h b/gtsam/nonlinear/NonlinearFactor.h
index 73255482c..d22409875 100644
--- a/gtsam/nonlinear/NonlinearFactor.h
+++ b/gtsam/nonlinear/NonlinearFactor.h
@@ -28,7 +28,9 @@
 #include <gtsam/base/OptionalJacobian.h>
 #include <gtsam/base/utilities.h>  // boost::index_sequence
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/base_object.hpp>
+#endif
 #include <cstddef>
 #include <type_traits>
 
@@ -303,6 +305,7 @@ public:
   shared_ptr cloneWithNewNoiseModel(const SharedNoiseModel newNoise) const;
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -311,6 +314,7 @@ public:
          boost::serialization::base_object<Base>(*this));
     ar & BOOST_SERIALIZATION_NVP(noiseModel_);
   }
+#endif
 
 }; // \class NoiseModelFactor
 
@@ -713,6 +717,7 @@ protected:
     }
   }
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template <class ARCHIVE>
@@ -720,6 +725,7 @@ protected:
     ar& boost::serialization::make_nvp(
         "NoiseModelFactor", boost::serialization::base_object<Base>(*this));
   }
+#endif
 
  public:
   /// @name Shortcut functions `key1()` -> `key<1>()`
diff --git a/gtsam/nonlinear/NonlinearFactorGraph.h b/gtsam/nonlinear/NonlinearFactorGraph.h
index 95b116ab6..92bfdaf20 100644
--- a/gtsam/nonlinear/NonlinearFactorGraph.h
+++ b/gtsam/nonlinear/NonlinearFactorGraph.h
@@ -253,6 +253,7 @@ namespace gtsam {
     std::shared_ptr<HessianFactor> linearizeToHessianFactor(
         const Values& values, const Scatter& scatter, const Dampen& dampen = nullptr) const;
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     /** Serialization function */
     friend class boost::serialization::access;
     template<class ARCHIVE>
@@ -260,6 +261,7 @@ namespace gtsam {
       ar & boost::serialization::make_nvp("NonlinearFactorGraph",
                 boost::serialization::base_object<Base>(*this));
     }
+#endif
   };
 
 /// traits
diff --git a/gtsam/nonlinear/PriorFactor.h b/gtsam/nonlinear/PriorFactor.h
index 808f66c5b..ab2a66a77 100644
--- a/gtsam/nonlinear/PriorFactor.h
+++ b/gtsam/nonlinear/PriorFactor.h
@@ -105,6 +105,7 @@ namespace gtsam {
 
   private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     /** Serialization function */
     friend class boost::serialization::access;
     template<class ARCHIVE>
@@ -114,6 +115,7 @@ namespace gtsam {
           boost::serialization::base_object<Base>(*this));
       ar & BOOST_SERIALIZATION_NVP(prior_);
     }
+#endif
 
   // Alignment, see https://eigen.tuxfamily.org/dox/group__TopicStructHavingEigenMembers.html
   enum { NeedsToAlign = (sizeof(T) % 16) == 0 };
diff --git a/gtsam/nonlinear/Values.h b/gtsam/nonlinear/Values.h
index 66e90a0b3..172bfba89 100644
--- a/gtsam/nonlinear/Values.h
+++ b/gtsam/nonlinear/Values.h
@@ -307,12 +307,14 @@ namespace gtsam {
       return filter(key_value.key) && (dynamic_cast<const GenericValue<ValueType>*>(&key_value.value));
     }
 
+#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(values_);
     }
+#endif
 
   };
 
diff --git a/gtsam/nonlinear/tests/CMakeLists.txt b/gtsam/nonlinear/tests/CMakeLists.txt
index 69a3700f2..4dcd5f4e9 100644
--- a/gtsam/nonlinear/tests/CMakeLists.txt
+++ b/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(nonlinear "test*.cpp" "${EXCLUDE_TESTS}" "gtsam")
diff --git a/gtsam/sam/BearingFactor.h b/gtsam/sam/BearingFactor.h
index 68d6cbd48..01b2baf18 100644
--- a/gtsam/sam/BearingFactor.h
+++ b/gtsam/sam/BearingFactor.h
@@ -75,12 +75,14 @@ struct BearingFactor : public ExpressionFactorN<T, A1, A2> {
 
 
  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::make_nvp(
         "Base", boost::serialization::base_object<Base>(*this));
   }
+#endif
 };  // BearingFactor
 
 /// traits
diff --git a/gtsam/sam/BearingRangeFactor.h b/gtsam/sam/BearingRangeFactor.h
index f4fcbf692..a1e6251b5 100644
--- a/gtsam/sam/BearingRangeFactor.h
+++ b/gtsam/sam/BearingRangeFactor.h
@@ -93,12 +93,14 @@ class BearingRangeFactor
 
 
  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::make_nvp(
         "Base", boost::serialization::base_object<Base>(*this));
   }
+#endif
 };  // BearingRangeFactor
 
 /// traits
diff --git a/gtsam/sam/RangeFactor.h b/gtsam/sam/RangeFactor.h
index fb7977d45..193a89a5a 100644
--- a/gtsam/sam/RangeFactor.h
+++ b/gtsam/sam/RangeFactor.h
@@ -80,12 +80,14 @@ class RangeFactor : public ExpressionFactorN<T, A1, A2> {
   }
 
  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::make_nvp(
         "Base", boost::serialization::base_object<Base>(*this));
   }
+#endif
 };  // \ RangeFactor
 
 /// traits
@@ -162,8 +164,9 @@ class RangeFactorWithTransform : public ExpressionFactorN<T, A1, A2> {
   }
 
  private:
-  /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
+  /** Serialization function */
   template <typename ARCHIVE>
   void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
     // **IMPORTANT** We need to (de)serialize parameters before the base class,
@@ -173,6 +176,7 @@ class RangeFactorWithTransform : public ExpressionFactorN<T, A1, A2> {
     ar& boost::serialization::make_nvp(
         "Base", boost::serialization::base_object<Base>(*this));
   }
+#endif
 };  // \ RangeFactorWithTransform
 
 /// traits
diff --git a/gtsam/sam/tests/CMakeLists.txt b/gtsam/sam/tests/CMakeLists.txt
index 127c619ee..000ded774 100644
--- a/gtsam/sam/tests/CMakeLists.txt
+++ b/gtsam/sam/tests/CMakeLists.txt
@@ -1 +1,9 @@
-gtsamAddTestsGlob(sam "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 "testSerializationSam.cpp")
+else()
+  set(EXCLUDE_TESTS "")
+endif()
+
+gtsamAddTestsGlob(sam "test*.cpp" "${EXCLUDE_TESTS}" "gtsam")
diff --git a/gtsam/sfm/SfmData.h b/gtsam/sfm/SfmData.h
index dbf0bd1e7..7161ab2f9 100644
--- a/gtsam/sfm/SfmData.h
+++ b/gtsam/sfm/SfmData.h
@@ -125,13 +125,16 @@ struct GTSAM_EXPORT SfmData {
   /// @name Serialization
   /// @{
 
-  /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
+  /** Serialization function */
   template <class Archive>
   void serialize(Archive& ar, const unsigned int /*version*/) {
     ar& BOOST_SERIALIZATION_NVP(cameras);
     ar& BOOST_SERIALIZATION_NVP(tracks);
   }
+#endif
+
 
   /// @}
 };
diff --git a/gtsam/sfm/SfmTrack.h b/gtsam/sfm/SfmTrack.h
index 60699bc31..6ef1f9512 100644
--- a/gtsam/sfm/SfmTrack.h
+++ b/gtsam/sfm/SfmTrack.h
@@ -161,6 +161,7 @@ struct GTSAM_EXPORT SfmTrack : SfmTrack2d {
   /// @name Serialization
   /// @{
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template <class ARCHIVE>
@@ -172,6 +173,7 @@ struct GTSAM_EXPORT SfmTrack : SfmTrack2d {
     ar& BOOST_SERIALIZATION_NVP(measurements);
     ar& BOOST_SERIALIZATION_NVP(siftIndices);
   }
+#endif
   /// @}
 };
 
diff --git a/gtsam/sfm/TranslationFactor.h b/gtsam/sfm/TranslationFactor.h
index abbfa7fcb..a7289f759 100644
--- a/gtsam/sfm/TranslationFactor.h
+++ b/gtsam/sfm/TranslationFactor.h
@@ -80,11 +80,13 @@ class TranslationFactor : public NoiseModelFactorN<Point3, Point3> {
   }
 
  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::make_nvp(
         "Base", boost::serialization::base_object<Base>(*this));
   }
+#endif
 };  // \ TranslationFactor
 }  // namespace gtsam
diff --git a/gtsam/slam/AntiFactor.h b/gtsam/slam/AntiFactor.h
index f11575035..3b031b334 100644
--- a/gtsam/slam/AntiFactor.h
+++ b/gtsam/slam/AntiFactor.h
@@ -106,6 +106,7 @@ namespace gtsam {
 
   private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     /** Serialization function */
     friend class boost::serialization::access;
     template<class ARCHIVE>
@@ -114,6 +115,7 @@ namespace gtsam {
           boost::serialization::base_object<Base>(*this));
       ar & BOOST_SERIALIZATION_NVP(factor_);
     }
+#endif
   }; // \class AntiFactor
 
 } /// namespace gtsam
diff --git a/gtsam/slam/BetweenFactor.h b/gtsam/slam/BetweenFactor.h
index 36cea67a9..3e5b154e3 100644
--- a/gtsam/slam/BetweenFactor.h
+++ b/gtsam/slam/BetweenFactor.h
@@ -135,6 +135,7 @@ namespace gtsam {
 
   private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     /** Serialization function */
     friend class boost::serialization::access;
     template<class ARCHIVE>
@@ -144,6 +145,7 @@ namespace gtsam {
           boost::serialization::base_object<Base>(*this));
       ar & BOOST_SERIALIZATION_NVP(measured_);
     }
+#endif
 
 	  // Alignment, see https://eigen.tuxfamily.org/dox/group__TopicStructHavingEigenMembers.html
 	  enum { NeedsToAlign = (sizeof(VALUE) % 16) == 0 };
@@ -174,12 +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
diff --git a/gtsam/slam/BoundingConstraint.h b/gtsam/slam/BoundingConstraint.h
index 14aa96dbc..a496971e2 100644
--- a/gtsam/slam/BoundingConstraint.h
+++ b/gtsam/slam/BoundingConstraint.h
@@ -83,6 +83,7 @@ struct BoundingConstraint1: public NoiseModelFactorN<VALUE> {
 
 private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -93,6 +94,7 @@ private:
     ar & BOOST_SERIALIZATION_NVP(threshold_);
     ar & BOOST_SERIALIZATION_NVP(isGreaterThan_);
   }
+#endif
 };
 
 /**
@@ -159,6 +161,7 @@ struct BoundingConstraint2: public NoiseModelFactorN<VALUE1, VALUE2> {
 
 private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -169,6 +172,7 @@ private:
     ar & BOOST_SERIALIZATION_NVP(threshold_);
     ar & BOOST_SERIALIZATION_NVP(isGreaterThan_);
   }
+#endif
 };
 
 } // \namespace gtsam
diff --git a/gtsam/slam/EssentialMatrixConstraint.h b/gtsam/slam/EssentialMatrixConstraint.h
index c533ea04d..45e54aa5d 100644
--- a/gtsam/slam/EssentialMatrixConstraint.h
+++ b/gtsam/slam/EssentialMatrixConstraint.h
@@ -91,6 +91,7 @@ public:
 
 private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -101,6 +102,7 @@ private:
             boost::serialization::base_object<Base>(*this));
     ar & BOOST_SERIALIZATION_NVP(measuredE_);
   }
+#endif
 
 public:
   GTSAM_MAKE_ALIGNED_OPERATOR_NEW
diff --git a/gtsam/slam/GeneralSFMFactor.h b/gtsam/slam/GeneralSFMFactor.h
index 8046a210b..5605ad58e 100644
--- a/gtsam/slam/GeneralSFMFactor.h
+++ b/gtsam/slam/GeneralSFMFactor.h
@@ -37,7 +37,9 @@
 #include <gtsam/base/timing.h>
 
 #include <boost/none.hpp>
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/nvp.hpp>
+#endif
 #include <iostream>
 #include <string>
 
@@ -181,6 +183,7 @@ public:
   }
 
 private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class Archive>
@@ -190,6 +193,7 @@ private:
         boost::serialization::base_object<Base>(*this));
     ar & BOOST_SERIALIZATION_NVP(measured_);
   }
+#endif
 };
 
 template<class CAMERA, class LANDMARK>
@@ -280,6 +284,7 @@ public:
   }
 
 private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class Archive>
@@ -289,6 +294,7 @@ private:
         boost::serialization::base_object<Base>(*this));
     ar & BOOST_SERIALIZATION_NVP(measured_);
   }
+#endif
 };
 
 template<class CALIBRATION>
diff --git a/gtsam/slam/PoseRotationPrior.h b/gtsam/slam/PoseRotationPrior.h
index 72c50d43f..8ce90988b 100644
--- a/gtsam/slam/PoseRotationPrior.h
+++ b/gtsam/slam/PoseRotationPrior.h
@@ -91,6 +91,7 @@ public:
 
 private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -100,6 +101,7 @@ private:
         boost::serialization::base_object<Base>(*this));
     ar & BOOST_SERIALIZATION_NVP(measured_);
   }
+#endif
 };
 
 } // \namespace gtsam
diff --git a/gtsam/slam/PoseTranslationPrior.h b/gtsam/slam/PoseTranslationPrior.h
index 85e7a0fa4..c5257f45c 100644
--- a/gtsam/slam/PoseTranslationPrior.h
+++ b/gtsam/slam/PoseTranslationPrior.h
@@ -90,6 +90,7 @@ public:
 
 private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -99,6 +100,7 @@ private:
         boost::serialization::base_object<Base>(*this));
     ar & BOOST_SERIALIZATION_NVP(measured_);
   }
+#endif
 
 };
 
diff --git a/gtsam/slam/ProjectionFactor.h b/gtsam/slam/ProjectionFactor.h
index 73ed85035..f40d8f5bb 100644
--- a/gtsam/slam/ProjectionFactor.h
+++ b/gtsam/slam/ProjectionFactor.h
@@ -188,6 +188,7 @@ namespace gtsam {
 
   private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION    ///
     /// Serialization function
     friend class boost::serialization::access;
     template<class ARCHIVE>
@@ -199,6 +200,7 @@ namespace gtsam {
       ar & BOOST_SERIALIZATION_NVP(throwCheirality_);
       ar & BOOST_SERIALIZATION_NVP(verboseCheirality_);
     }
+#endif
 
   public:
     GTSAM_MAKE_ALIGNED_OPERATOR_NEW
diff --git a/gtsam/slam/ReferenceFrameFactor.h b/gtsam/slam/ReferenceFrameFactor.h
index 73952d3cc..0ae6ea88a 100644
--- a/gtsam/slam/ReferenceFrameFactor.h
+++ b/gtsam/slam/ReferenceFrameFactor.h
@@ -122,6 +122,7 @@ public:
   Key local_key() const { return this->key3(); }
 
 private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -129,6 +130,7 @@ private:
     ar & boost::serialization::make_nvp("NonlinearFactor3",
         boost::serialization::base_object<Base>(*this));
   }
+#endif
 };
 
 /// traits
diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h
index a5fc3be1a..80dde3563 100644
--- a/gtsam/slam/SmartFactorBase.h
+++ b/gtsam/slam/SmartFactorBase.h
@@ -30,7 +30,9 @@
 #include <gtsam/geometry/CameraSet.h>
 
 #include <optional>
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/optional.hpp>
+#endif
 #include <vector>
 
 namespace gtsam {
@@ -443,6 +445,7 @@ protected:
 
 private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION///
 /// Serialization function
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -452,6 +455,7 @@ private:
     ar & BOOST_SERIALIZATION_NVP(measured_);
     ar & BOOST_SERIALIZATION_NVP(body_P_sensor_);
   }
+#endif
 };
 // end class SmartFactorBase
 
diff --git a/gtsam/slam/SmartFactorParams.h b/gtsam/slam/SmartFactorParams.h
index 4f23c085d..4523d0e0e 100644
--- a/gtsam/slam/SmartFactorParams.h
+++ b/gtsam/slam/SmartFactorParams.h
@@ -118,6 +118,7 @@ struct SmartProjectionParams {
 
 private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  ///
   /// Serialization function
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -129,6 +130,7 @@ private:
     ar & BOOST_SERIALIZATION_NVP(throwCheirality);
     ar & BOOST_SERIALIZATION_NVP(verboseCheirality);
   }
+#endif
 };
 
 } // \ namespace gtsam
diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h
index 1434993e2..c54efecc4 100644
--- a/gtsam/slam/SmartProjectionFactor.h
+++ b/gtsam/slam/SmartProjectionFactor.h
@@ -466,6 +466,7 @@ protected:
 
  private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  ///
   /// Serialization function
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -475,6 +476,7 @@ protected:
     ar & BOOST_SERIALIZATION_NVP(result_);
     ar & BOOST_SERIALIZATION_NVP(cameraPosesTriangulation_);
   }
+#endif
 }
 ;
 
diff --git a/gtsam/slam/SmartProjectionPoseFactor.h b/gtsam/slam/SmartProjectionPoseFactor.h
index 6421b3013..b88c1c628 100644
--- a/gtsam/slam/SmartProjectionPoseFactor.h
+++ b/gtsam/slam/SmartProjectionPoseFactor.h
@@ -148,6 +148,7 @@ public:
 
  private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  ///
   /// Serialization function
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -155,6 +156,7 @@ public:
     ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
     ar & BOOST_SERIALIZATION_NVP(K_);
   }
+#endif
 };
 // end of class declaration
 
diff --git a/gtsam/slam/SmartProjectionRigFactor.h b/gtsam/slam/SmartProjectionRigFactor.h
index cf564cdda..0aa070ed0 100644
--- a/gtsam/slam/SmartProjectionRigFactor.h
+++ b/gtsam/slam/SmartProjectionRigFactor.h
@@ -352,6 +352,7 @@ class SmartProjectionRigFactor : public SmartProjectionFactor<CAMERA> {
   }
 
  private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  ///
   /// Serialization function
   friend class boost::serialization::access;
   template <class ARCHIVE>
@@ -361,6 +362,7 @@ class SmartProjectionRigFactor : public SmartProjectionFactor<CAMERA> {
     // ar& BOOST_SERIALIZATION_NVP(cameraRig_);
     // ar& BOOST_SERIALIZATION_NVP(cameraIds_);
   }
+#endif
 };
 // end of class declaration
 
diff --git a/gtsam/slam/StereoFactor.h b/gtsam/slam/StereoFactor.h
index 8d25d6032..a2d428d11 100644
--- a/gtsam/slam/StereoFactor.h
+++ b/gtsam/slam/StereoFactor.h
@@ -170,6 +170,7 @@ public:
   inline bool throwCheirality() const { return throwCheirality_; }
 
 private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class Archive>
@@ -183,6 +184,7 @@ private:
     ar & BOOST_SERIALIZATION_NVP(throwCheirality_);
     ar & BOOST_SERIALIZATION_NVP(verboseCheirality_);
   }
+#endif
 };
 
 /// traits
diff --git a/gtsam/slam/TriangulationFactor.h b/gtsam/slam/TriangulationFactor.h
index c71c94b20..6feaa7041 100644
--- a/gtsam/slam/TriangulationFactor.h
+++ b/gtsam/slam/TriangulationFactor.h
@@ -189,6 +189,7 @@ public:
 
 private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  ///
   /// Serialization function
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -199,6 +200,7 @@ private:
     ar & BOOST_SERIALIZATION_NVP(throwCheirality_);
     ar & BOOST_SERIALIZATION_NVP(verboseCheirality_);
   }
+#endif
 };
 } // \ namespace gtsam
 
diff --git a/gtsam/slam/tests/CMakeLists.txt b/gtsam/slam/tests/CMakeLists.txt
index 1205388a1..223fa6501 100644
--- a/gtsam/slam/tests/CMakeLists.txt
+++ b/gtsam/slam/tests/CMakeLists.txt
@@ -1 +1,10 @@
-gtsamAddTestsGlob(slam "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 "testSerializationDataset.cpp" "testSerializationInSlam.cpp")
+  message(STATUS "Excluding tests: ${EXCLUDE_TESTS}")
+else()
+  set(EXCLUDE_TESTS "")
+endif()
+
+gtsamAddTestsGlob(slam "test*.cpp" "${EXCLUDE_TESTS}" "gtsam")
diff --git a/gtsam/symbolic/SymbolicBayesNet.h b/gtsam/symbolic/SymbolicBayesNet.h
index 31b1bac33..f2c142762 100644
--- a/gtsam/symbolic/SymbolicBayesNet.h
+++ b/gtsam/symbolic/SymbolicBayesNet.h
@@ -104,12 +104,14 @@ 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_BASE_OBJECT_NVP(Base);
     }
+#endif
 };
 
   /// traits
diff --git a/gtsam/symbolic/SymbolicBayesTree.h b/gtsam/symbolic/SymbolicBayesTree.h
index 0a6b6608e..4d5804b27 100644
--- a/gtsam/symbolic/SymbolicBayesTree.h
+++ b/gtsam/symbolic/SymbolicBayesTree.h
@@ -63,12 +63,14 @@ namespace gtsam {
     bool equals(const This& other, double tol = 1e-9) const;
 
   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
   };
 
 /// traits
diff --git a/gtsam/symbolic/SymbolicConditional.h b/gtsam/symbolic/SymbolicConditional.h
index 1411ceafe..5cc4e9cfc 100644
--- a/gtsam/symbolic/SymbolicConditional.h
+++ b/gtsam/symbolic/SymbolicConditional.h
@@ -126,6 +126,7 @@ namespace gtsam {
     /// @}
 
   private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     /** Serialization function */
     friend class boost::serialization::access;
     template<class Archive>
@@ -133,6 +134,7 @@ namespace gtsam {
       ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(BaseFactor);
       ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(BaseConditional);
     }
+#endif
   };
 
 /// traits
diff --git a/gtsam/symbolic/SymbolicFactor.h b/gtsam/symbolic/SymbolicFactor.h
index 86ebdffbf..0e9eb3d46 100644
--- a/gtsam/symbolic/SymbolicFactor.h
+++ b/gtsam/symbolic/SymbolicFactor.h
@@ -153,12 +153,14 @@ 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_BASE_OBJECT_NVP(Base);
     }
+#endif
   }; // IndexFactor
 
   // Forward declarations
diff --git a/gtsam/symbolic/SymbolicFactorGraph.h b/gtsam/symbolic/SymbolicFactorGraph.h
index bb37b4436..01b532a5c 100644
--- a/gtsam/symbolic/SymbolicFactorGraph.h
+++ b/gtsam/symbolic/SymbolicFactorGraph.h
@@ -148,12 +148,14 @@ 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_BASE_OBJECT_NVP(Base);
     }
+#endif
   };
 
 /// traits
diff --git a/gtsam/symbolic/tests/CMakeLists.txt b/gtsam/symbolic/tests/CMakeLists.txt
index 6bef7a109..65a7cf719 100644
--- a/gtsam/symbolic/tests/CMakeLists.txt
+++ b/gtsam/symbolic/tests/CMakeLists.txt
@@ -1 +1,9 @@
-gtsamAddTestsGlob(symbolic "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 "testSerializationSymbolic.cpp")
+else()
+  set(EXCLUDE_TESTS "")
+endif()
+
+gtsamAddTestsGlob(symbolic "test*.cpp" "${EXCLUDE_TESTS}" "gtsam")
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..689c97c3a 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
 
 };
 
@@ -146,14 +148,16 @@ public:
   Vector error_vector(const Values& c) const;
 
 private:
-  /** Serialization function */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   friend class boost::serialization::access;
+  /** Serialization function */
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
     ar & boost::serialization::make_nvp("LinearizedJacobianFactor",
         boost::serialization::base_object<Base>(*this));
     ar & BOOST_SERIALIZATION_NVP(Ab_);
   }
+#endif
 };
 
 /// traits
@@ -275,6 +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*/) {
@@ -282,6 +287,7 @@ private:
         boost::serialization::base_object<Base>(*this));
     ar & BOOST_SERIALIZATION_NVP(info_);
   }
+#endif
 };
 
 /// traits
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..22a725d47 100644
--- a/gtsam_unstable/slam/InvDepthFactorVariant3.h
+++ b/gtsam_unstable/slam/InvDepthFactorVariant3.h
@@ -139,6 +139,7 @@ public:
 
 private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  ///
   /// Serialization function
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -147,6 +148,7 @@ private:
     ar & BOOST_SERIALIZATION_NVP(measured_);
     ar & BOOST_SERIALIZATION_NVP(K_);
   }
+#endif
 };
 
 /**
@@ -269,14 +271,16 @@ public:
 
 private:
 
-  /// Serialization function
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   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);
     ar & BOOST_SERIALIZATION_NVP(measured_);
     ar & BOOST_SERIALIZATION_NVP(K_);
   }
+#endif
 };
 
 } // \ namespace gtsam
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..612dd1891 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
   };
 
   /**
@@ -208,6 +210,7 @@ namespace simulated2D {
     /// Default constructor
     GenericOdometry() { }
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION    ///
     /// Serialization function
     friend class boost::serialization::access;
     template<class ARCHIVE>
@@ -215,6 +218,7 @@ namespace simulated2D {
       ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
       ar & BOOST_SERIALIZATION_NVP(measured_);
     }
+#endif
   };
 
   /**
@@ -257,6 +261,7 @@ namespace simulated2D {
     /// Default constructor
     GenericMeasurement() { }
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION    ///
     /// Serialization function
     friend class boost::serialization::access;
     template<class ARCHIVE>
@@ -264,6 +269,7 @@ namespace simulated2D {
       ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
       ar & BOOST_SERIALIZATION_NVP(measured_);
     }
+#endif
   };
 
   /** Typedefs for regular use */
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) {