diff --git a/wrap/gtwrap/pybind_wrapper.py b/wrap/gtwrap/pybind_wrapper.py
index c0e88e37a..ec5480785 100755
--- a/wrap/gtwrap/pybind_wrapper.py
+++ b/wrap/gtwrap/pybind_wrapper.py
@@ -75,7 +75,17 @@ class PybindWrapper(object):
                         []({class_inst} self, string serialized){{
                             gtsam::deserialize(serialized, *self);
                         }}, py::arg("serialized"))
-                    '''.format(class_inst=cpp_class + '*'))
+                    .def(py::pickle(
+                        [](const {cpp_class} &a){{ // __getstate__
+                            /* Returns a string that encodes the state of the object */
+                            return py::make_tuple(gtsam::serialize(a));
+                        }},
+                        [](py::tuple t){{ // __setstate__
+                            {cpp_class} obj;
+                            gtsam::deserialize(t[0].cast<std::string>(), obj);
+                            return obj;
+                        }}))
+                    '''.format(class_inst=cpp_class + '*', cpp_class=cpp_class))
 
         is_method = isinstance(method, instantiator.InstantiatedMethod)
         is_static = isinstance(method, parser.StaticMethod)
@@ -318,3 +328,4 @@ class PybindWrapper(object):
             wrapped_namespace=wrapped_namespace,
             boost_class_export=boost_class_export,
         )
+
diff --git a/wrap/tests/expected-python/geometry_pybind.cpp b/wrap/tests/expected-python/geometry_pybind.cpp
index 3eee55bf4..53d33eabf 100644
--- a/wrap/tests/expected-python/geometry_pybind.cpp
+++ b/wrap/tests/expected-python/geometry_pybind.cpp
@@ -47,6 +47,16 @@ PYBIND11_MODULE(geometry_py, m_) {
     [](gtsam::Point2* self, string serialized){
         gtsam::deserialize(serialized, *self);
     }, py::arg("serialized"))
+.def(py::pickle(
+    [](const gtsam::Point2 &a){ // __getstate__
+        /* Returns a string that encodes the state of the object */
+        return py::make_tuple(gtsam::serialize(a));
+    },
+    [](py::tuple t){ // __setstate__
+        gtsam::Point2 obj;
+        gtsam::deserialize(t[0].cast<std::string>(), obj);
+        return obj;
+    }))
 ;
 
     py::class_<gtsam::Point3, std::shared_ptr<gtsam::Point3>>(m_gtsam, "Point3")
@@ -61,6 +71,16 @@ PYBIND11_MODULE(geometry_py, m_) {
     [](gtsam::Point3* self, string serialized){
         gtsam::deserialize(serialized, *self);
     }, py::arg("serialized"))
+.def(py::pickle(
+    [](const gtsam::Point3 &a){ // __getstate__
+        /* Returns a string that encodes the state of the object */
+        return py::make_tuple(gtsam::serialize(a));
+    },
+    [](py::tuple t){ // __setstate__
+        gtsam::Point3 obj;
+        gtsam::deserialize(t[0].cast<std::string>(), obj);
+        return obj;
+    }))
 
         .def_static("staticFunction",[](){return gtsam::Point3::staticFunction();})
         .def_static("StaticFunctionRet",[]( double z){return gtsam::Point3::StaticFunctionRet(z);}, py::arg("z"));