diff --git a/include/ceres/internal/eigen.h b/include/ceres/internal/eigen.h
index be76f9e..85df54b 100644
--- a/include/ceres/internal/eigen.h
+++ b/include/ceres/internal/eigen.h
@@ -35,27 +35,40 @@
 
 namespace ceres {
 
-using Eigen::Dynamic;
-using Eigen::RowMajor;
-
-typedef Eigen::Matrix<double, Dynamic, 1> Vector;
-typedef Eigen::Matrix<double, Dynamic, Dynamic, RowMajor> Matrix;
+typedef Eigen::Matrix<double, Eigen::Dynamic, 1> Vector;
+typedef Eigen::Matrix<double,
+                      Eigen::Dynamic,
+                      Eigen::Dynamic,
+                      Eigen::RowMajor> Matrix;
 typedef Eigen::Map<Vector> VectorRef;
 typedef Eigen::Map<Matrix> MatrixRef;
-typedef Eigen::Map<Matrix, Eigen::Aligned> AlignedMatrixRef;
 typedef Eigen::Map<const Vector> ConstVectorRef;
-typedef Eigen::Map<const Matrix, Eigen::Aligned> ConstAlignedMatrixRef;
 typedef Eigen::Map<const Matrix> ConstMatrixRef;
 
+// Column major matrices for DenseSparseMatrix/DenseQRSolver
+typedef Eigen::Matrix<double,
+                      Eigen::Dynamic,
+                      Eigen::Dynamic,
+                      Eigen::ColMajor> ColMajorMatrix;
+
+typedef Eigen::Map<ColMajorMatrix, 0,
+                   Eigen::Stride<Eigen::Dynamic, 1> > ColMajorMatrixRef;
+
+typedef Eigen::Map<const ColMajorMatrix,
+                   0,
+                   Eigen::Stride<Eigen::Dynamic, 1> > ConstColMajorMatrixRef;
+
+
+
 // C++ does not support templated typdefs, thus the need for this
 // struct so that we can support statically sized Matrix and Maps.
 template <int num_rows = Eigen::Dynamic, int num_cols = Eigen::Dynamic>
 struct EigenTypes {
-  typedef Eigen::Matrix <double, num_rows, num_cols, RowMajor>
+  typedef Eigen::Matrix <double, num_rows, num_cols, Eigen::RowMajor>
   Matrix;
 
   typedef Eigen::Map<
-    Eigen::Matrix<double, num_rows, num_cols, RowMajor> >
+    Eigen::Matrix<double, num_rows, num_cols, Eigen::RowMajor> >
   MatrixRef;
 
   typedef Eigen::Matrix <double, num_rows, 1>
@@ -67,7 +80,7 @@
 
 
   typedef Eigen::Map<
-    const Eigen::Matrix<double, num_rows, num_cols, RowMajor> >
+    const Eigen::Matrix<double, num_rows, num_cols, Eigen::RowMajor> >
   ConstMatrixRef;
 
   typedef Eigen::Map <
diff --git a/internal/ceres/dense_normal_cholesky_solver.cc b/internal/ceres/dense_normal_cholesky_solver.cc
index a340e16..96f5511 100644
--- a/internal/ceres/dense_normal_cholesky_solver.cc
+++ b/internal/ceres/dense_normal_cholesky_solver.cc
@@ -57,7 +57,7 @@
   const int num_rows = A->num_rows();
   const int num_cols = A->num_cols();
 
-  ConstAlignedMatrixRef Aref = A->matrix();
+  ConstColMajorMatrixRef Aref = A->matrix();
   Matrix lhs(num_cols, num_cols);
   lhs.setZero();
 
diff --git a/internal/ceres/dense_sparse_matrix.cc b/internal/ceres/dense_sparse_matrix.cc
index 978ac6a..9d58031 100644
--- a/internal/ceres/dense_sparse_matrix.cc
+++ b/internal/ceres/dense_sparse_matrix.cc
@@ -42,7 +42,6 @@
 DenseSparseMatrix::DenseSparseMatrix(int num_rows, int num_cols)
     : has_diagonal_appended_(false),
       has_diagonal_reserved_(false) {
-  // Allocate enough space for the diagonal.
   m_.resize(num_rows, num_cols);
   m_.setZero();
 }
@@ -52,8 +51,8 @@
                                      bool reserve_diagonal)
     : has_diagonal_appended_(false),
       has_diagonal_reserved_(reserve_diagonal) {
-  // Allocate enough space for the diagonal.
   if (reserve_diagonal) {
+    // Allocate enough space for the diagonal.
     m_.resize(num_rows +  num_cols, num_cols);
   } else {
     m_.resize(num_rows, num_cols);
@@ -75,7 +74,7 @@
   }
 }
 
-DenseSparseMatrix::DenseSparseMatrix(const Matrix& m)
+DenseSparseMatrix::DenseSparseMatrix(const ColMajorMatrix& m)
     : m_(m),
       has_diagonal_appended_(false),
       has_diagonal_reserved_(false) {
@@ -141,7 +140,7 @@
 void DenseSparseMatrix::AppendDiagonal(double *d) {
   CHECK(!has_diagonal_appended_);
   if (!has_diagonal_reserved_) {
-    Matrix tmp = m_;
+    ColMajorMatrix tmp = m_;
     m_.resize(m_.rows() + m_.cols(), m_.cols());
     m_.setZero();
     m_.block(0, 0, tmp.rows(), tmp.cols()) = tmp;
@@ -177,22 +176,27 @@
   return m_.rows() * m_.cols();
 }
 
-ConstAlignedMatrixRef DenseSparseMatrix::matrix() const {
-  if (has_diagonal_reserved_ && !has_diagonal_appended_) {
-    return ConstAlignedMatrixRef(
-        m_.data(), m_.rows() - m_.cols(), m_.cols());
-  }
-  return ConstAlignedMatrixRef(m_.data(), m_.rows(), m_.cols());
+ConstColMajorMatrixRef DenseSparseMatrix::matrix() const {
+  return ConstColMajorMatrixRef(
+      m_.data(),
+      ((has_diagonal_reserved_ && !has_diagonal_appended_)
+       ? m_.rows() - m_.cols()
+       : m_.rows()),
+      m_.cols(),
+      Eigen::Stride<Eigen::Dynamic, 1>(m_.rows(), 1));
 }
 
-AlignedMatrixRef DenseSparseMatrix::mutable_matrix() {
-  if (has_diagonal_reserved_ && !has_diagonal_appended_) {
-    return AlignedMatrixRef(
-        m_.data(), m_.rows() - m_.cols(), m_.cols());
-  }
-  return AlignedMatrixRef(m_.data(), m_.rows(), m_.cols());
+ColMajorMatrixRef DenseSparseMatrix::mutable_matrix() {
+  return ColMajorMatrixRef(
+      m_.data(),
+      ((has_diagonal_reserved_ && !has_diagonal_appended_)
+       ? m_.rows() - m_.cols()
+       : m_.rows()),
+      m_.cols(),
+      Eigen::Stride<Eigen::Dynamic, 1>(m_.rows(), 1));
 }
 
+
 void DenseSparseMatrix::ToTextFile(FILE* file) const {
   CHECK_NOTNULL(file);
   const int active_rows =
diff --git a/internal/ceres/dense_sparse_matrix.h b/internal/ceres/dense_sparse_matrix.h
index 1e4d499..6c7b60a 100644
--- a/internal/ceres/dense_sparse_matrix.h
+++ b/internal/ceres/dense_sparse_matrix.h
@@ -51,7 +51,7 @@
   // Build a matrix with the same content as the TripletSparseMatrix
   // m. This assumes that m does not have any repeated entries.
   explicit DenseSparseMatrix(const TripletSparseMatrix& m);
-  explicit DenseSparseMatrix(const Matrix& m);
+  explicit DenseSparseMatrix(const ColMajorMatrix& m);
 #ifndef CERES_NO_PROTOCOL_BUFFERS
   explicit DenseSparseMatrix(const SparseMatrixProto& proto);
 #endif
@@ -78,8 +78,8 @@
   virtual const double* values() const { return m_.data(); }
   virtual double* mutable_values() { return m_.data(); }
 
-  ConstAlignedMatrixRef matrix() const;
-  AlignedMatrixRef mutable_matrix();
+  ConstColMajorMatrixRef matrix() const;
+  ColMajorMatrixRef mutable_matrix();
 
   // Only one diagonal can be appended at a time. The diagonal is appended to
   // as a new set of rows, e.g.
@@ -106,7 +106,7 @@
   void RemoveDiagonal();
 
  private:
-  Matrix m_;
+  ColMajorMatrix m_;
   bool has_diagonal_appended_;
   bool has_diagonal_reserved_;
 };
diff --git a/internal/ceres/dense_sparse_matrix_test.cc b/internal/ceres/dense_sparse_matrix_test.cc
index 354357f..ccc833c 100644
--- a/internal/ceres/dense_sparse_matrix_test.cc
+++ b/internal/ceres/dense_sparse_matrix_test.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
@@ -200,6 +200,7 @@
 
   // Verify the diagonal got added.
   Matrix m = dsm.matrix();
+
   EXPECT_EQ(6, m.rows());
   EXPECT_EQ(3, m.cols());
   for (int i = 0; i < 3; ++i) {
@@ -215,6 +216,7 @@
 
   // Verify the diagonal gets removed.
   dsm.RemoveDiagonal();
+
   m = dsm.matrix();
 
   EXPECT_EQ(3, m.rows());
diff --git a/internal/ceres/generate_eliminator_specialization.py b/internal/ceres/generate_eliminator_specialization.py
index af9873f..6095351 100644
--- a/internal/ceres/generate_eliminator_specialization.py
+++ b/internal/ceres/generate_eliminator_specialization.py
@@ -1,33 +1,31 @@
-// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
-// http://code.google.com/p/ceres-solver/
-//
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are met:
-//
-// * Redistributions of source code must retain the above copyright notice,
-//   this list of conditions and the following disclaimer.
-// * Redistributions in binary form must reproduce the above copyright notice,
-//   this list of conditions and the following disclaimer in the documentation
-//   and/or other materials provided with the distribution.
-// * Neither the name of Google Inc. nor the names of its contributors may be
-//   used to endorse or promote products derived from this software without
-//   specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-// POSSIBILITY OF SUCH DAMAGE.
-//
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
+# http://code.google.com/p/ceres-solver/
 #
-# Copyright 2011 Google Inc. All Rights Reserved.
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+#   used to endorse or promote products derived from this software without
+#   specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
 # Author: sameeragarwal@google.com (Sameer Agarwal)
 #
 # Script for explicitly generating template specialization of the
@@ -54,21 +52,48 @@
 SPECIALIZATIONS = [(2, 2, 2),
                    (2, 2, 3),
                    (2, 2, 4),
-                   (2, 2, "Dynamic"),
+                   (2, 2, "Eigen::Dynamic"),
                    (2, 3, 3),
                    (2, 3, 4),
                    (2, 3, 9),
-                   (2, 3, "Dynamic"),
+                   (2, 3, "Eigen::Dynamic"),
                    (2, 4, 3),
                    (2, 4, 4),
-                   (2, 4, "Dynamic"),
+                   (2, 4, "Eigen::Dynamic"),
                    (4, 4, 2),
                    (4, 4, 3),
                    (4, 4, 4),
-                   (4, 4, "Dynamic"),
-                   ("Dynamic", "Dynamic", "Dynamic")]
+                   (4, 4, "Eigen::Dynamic"),
+                   ("Eigen::Dynamic", "Eigen::Dynamic", "Eigen::Dynamic")]
 
-SPECIALIZATION_FILE = """// Copyright 2011 Google Inc. All Rights Reserved.
+SPECIALIZATION_FILE = """// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
 // Author: sameeragarwal@google.com (Sameer Agarwal)
 //
 // Template specialization of SchurEliminator.
@@ -134,7 +159,7 @@
           << options.row_block_size << ","
           << options.e_block_size << ","
           << options.f_block_size << ">";
-  return new SchurEliminator<Dynamic, Dynamic, Dynamic>(options);
+  return new SchurEliminator<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>(options);
 }
 
 }  // namespace internal
@@ -143,7 +168,7 @@
 
 
 def SuffixForSize(size):
-  if size == "Dynamic":
+  if size == "Eigen::Dynamic":
     return "d"
   return str(size)
 
diff --git a/internal/ceres/generated/schur_eliminator_2_2_2.cc b/internal/ceres/generated/schur_eliminator_2_2_2.cc
index 5529386..b4a2cfd 100644
--- a/internal/ceres/generated/schur_eliminator_2_2_2.cc
+++ b/internal/ceres/generated/schur_eliminator_2_2_2.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
diff --git a/internal/ceres/generated/schur_eliminator_2_2_3.cc b/internal/ceres/generated/schur_eliminator_2_2_3.cc
index fd7af95..2373c6b 100644
--- a/internal/ceres/generated/schur_eliminator_2_2_3.cc
+++ b/internal/ceres/generated/schur_eliminator_2_2_3.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
diff --git a/internal/ceres/generated/schur_eliminator_2_2_4.cc b/internal/ceres/generated/schur_eliminator_2_2_4.cc
index 109483e..6253fe4 100644
--- a/internal/ceres/generated/schur_eliminator_2_2_4.cc
+++ b/internal/ceres/generated/schur_eliminator_2_2_4.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
diff --git a/internal/ceres/generated/schur_eliminator_2_2_d.cc b/internal/ceres/generated/schur_eliminator_2_2_d.cc
index b93e82f..d773a4f 100644
--- a/internal/ceres/generated/schur_eliminator_2_2_d.cc
+++ b/internal/ceres/generated/schur_eliminator_2_2_d.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
@@ -46,7 +46,7 @@
 namespace ceres {
 namespace internal {
 
-template class SchurEliminator<2, 2, Dynamic>;
+template class SchurEliminator<2, 2, Eigen::Dynamic>;
 
 }  // namespace internal
 }  // namespace ceres
diff --git a/internal/ceres/generated/schur_eliminator_2_3_3.cc b/internal/ceres/generated/schur_eliminator_2_3_3.cc
index 86352c0..afb89b8 100644
--- a/internal/ceres/generated/schur_eliminator_2_3_3.cc
+++ b/internal/ceres/generated/schur_eliminator_2_3_3.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
diff --git a/internal/ceres/generated/schur_eliminator_2_3_4.cc b/internal/ceres/generated/schur_eliminator_2_3_4.cc
index 200df7f..c883ee6 100644
--- a/internal/ceres/generated/schur_eliminator_2_3_4.cc
+++ b/internal/ceres/generated/schur_eliminator_2_3_4.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
diff --git a/internal/ceres/generated/schur_eliminator_2_3_9.cc b/internal/ceres/generated/schur_eliminator_2_3_9.cc
index 1fda343..bdffdc5 100644
--- a/internal/ceres/generated/schur_eliminator_2_3_9.cc
+++ b/internal/ceres/generated/schur_eliminator_2_3_9.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
diff --git a/internal/ceres/generated/schur_eliminator_2_3_d.cc b/internal/ceres/generated/schur_eliminator_2_3_d.cc
index 385cd2d..5d4139c 100644
--- a/internal/ceres/generated/schur_eliminator_2_3_d.cc
+++ b/internal/ceres/generated/schur_eliminator_2_3_d.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
@@ -46,7 +46,7 @@
 namespace ceres {
 namespace internal {
 
-template class SchurEliminator<2, 3, Dynamic>;
+template class SchurEliminator<2, 3, Eigen::Dynamic>;
 
 }  // namespace internal
 }  // namespace ceres
diff --git a/internal/ceres/generated/schur_eliminator_2_4_3.cc b/internal/ceres/generated/schur_eliminator_2_4_3.cc
index 7b15d63..06b99df 100644
--- a/internal/ceres/generated/schur_eliminator_2_4_3.cc
+++ b/internal/ceres/generated/schur_eliminator_2_4_3.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
diff --git a/internal/ceres/generated/schur_eliminator_2_4_4.cc b/internal/ceres/generated/schur_eliminator_2_4_4.cc
index 29a610d..4bc1f44 100644
--- a/internal/ceres/generated/schur_eliminator_2_4_4.cc
+++ b/internal/ceres/generated/schur_eliminator_2_4_4.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
diff --git a/internal/ceres/generated/schur_eliminator_2_4_d.cc b/internal/ceres/generated/schur_eliminator_2_4_d.cc
index a3bc4dc..573e40c 100644
--- a/internal/ceres/generated/schur_eliminator_2_4_d.cc
+++ b/internal/ceres/generated/schur_eliminator_2_4_d.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
@@ -46,7 +46,7 @@
 namespace ceres {
 namespace internal {
 
-template class SchurEliminator<2, 4, Dynamic>;
+template class SchurEliminator<2, 4, Eigen::Dynamic>;
 
 }  // namespace internal
 }  // namespace ceres
diff --git a/internal/ceres/generated/schur_eliminator_4_4_2.cc b/internal/ceres/generated/schur_eliminator_4_4_2.cc
index f71a4f6..e1f17fe 100644
--- a/internal/ceres/generated/schur_eliminator_4_4_2.cc
+++ b/internal/ceres/generated/schur_eliminator_4_4_2.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
diff --git a/internal/ceres/generated/schur_eliminator_4_4_3.cc b/internal/ceres/generated/schur_eliminator_4_4_3.cc
index 52259fb..e7c750a 100644
--- a/internal/ceres/generated/schur_eliminator_4_4_3.cc
+++ b/internal/ceres/generated/schur_eliminator_4_4_3.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
diff --git a/internal/ceres/generated/schur_eliminator_4_4_4.cc b/internal/ceres/generated/schur_eliminator_4_4_4.cc
index 775424e..d60ad71 100644
--- a/internal/ceres/generated/schur_eliminator_4_4_4.cc
+++ b/internal/ceres/generated/schur_eliminator_4_4_4.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
diff --git a/internal/ceres/generated/schur_eliminator_4_4_d.cc b/internal/ceres/generated/schur_eliminator_4_4_d.cc
index 97cde59..12fa978 100644
--- a/internal/ceres/generated/schur_eliminator_4_4_d.cc
+++ b/internal/ceres/generated/schur_eliminator_4_4_d.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
@@ -46,7 +46,7 @@
 namespace ceres {
 namespace internal {
 
-template class SchurEliminator<4, 4, Dynamic>;
+template class SchurEliminator<4, 4, Eigen::Dynamic>;
 
 }  // namespace internal
 }  // namespace ceres
diff --git a/internal/ceres/generated/schur_eliminator_d_d_d.cc b/internal/ceres/generated/schur_eliminator_d_d_d.cc
index 4cba32e..fa34e39 100644
--- a/internal/ceres/generated/schur_eliminator_d_d_d.cc
+++ b/internal/ceres/generated/schur_eliminator_d_d_d.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
@@ -46,7 +46,7 @@
 namespace ceres {
 namespace internal {
 
-template class SchurEliminator<Dynamic, Dynamic, Dynamic>;
+template class SchurEliminator<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>;
 
 }  // namespace internal
 }  // namespace ceres
diff --git a/internal/ceres/linear_solver.h b/internal/ceres/linear_solver.h
index 5aeedcd..f4bd0fb 100644
--- a/internal/ceres/linear_solver.h
+++ b/internal/ceres/linear_solver.h
@@ -79,9 +79,9 @@
           max_num_iterations(1),
           num_threads(1),
           residual_reset_period(10),
-          row_block_size(Dynamic),
-          e_block_size(Dynamic),
-          f_block_size(Dynamic) {
+          row_block_size(Eigen::Dynamic),
+          e_block_size(Eigen::Dynamic),
+          f_block_size(Eigen::Dynamic) {
     }
 
     LinearSolverType type;
diff --git a/internal/ceres/preconditioner.h b/internal/ceres/preconditioner.h
index 894a2e6..bfc8464 100644
--- a/internal/ceres/preconditioner.h
+++ b/internal/ceres/preconditioner.h
@@ -49,9 +49,9 @@
           sparse_linear_algebra_library(SUITE_SPARSE),
           use_block_amd(true),
           num_threads(1),
-          row_block_size(Dynamic),
-          e_block_size(Dynamic),
-          f_block_size(Dynamic) {
+          row_block_size(Eigen::Dynamic),
+          e_block_size(Eigen::Dynamic),
+          f_block_size(Eigen::Dynamic) {
     }
 
     PreconditionerType type;
diff --git a/internal/ceres/schur_eliminator.cc b/internal/ceres/schur_eliminator.cc
index 44f5be3..8dbf30f 100644
--- a/internal/ceres/schur_eliminator.cc
+++ b/internal/ceres/schur_eliminator.cc
@@ -1,31 +1,4 @@
-// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
-// http://code.google.com/p/ceres-solver/
-//
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are met:
-//
-// * Redistributions of source code must retain the above copyright notice,
-//   this list of conditions and the following disclaimer.
-// * Redistributions in binary form must reproduce the above copyright notice,
-//   this list of conditions and the following disclaimer in the documentation
-//   and/or other materials provided with the distribution.
-// * Neither the name of Google Inc. nor the names of its contributors may be
-//   used to endorse or promote products derived from this software without
-//   specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-// POSSIBILITY OF SUCH DAMAGE.
-//
+// Copyright 2011 Google Inc. All Rights Reserved.
 // Author: sameeragarwal@google.com (Sameer Agarwal)
 //
 // ========================================
@@ -65,8 +38,8 @@
   }
   if ((options.row_block_size == 2) &&
       (options.e_block_size == 2) &&
-      (options.f_block_size == Dynamic)) {
-    return new SchurEliminator<2, 2, Dynamic>(options);
+      (options.f_block_size == Eigen::Dynamic)) {
+    return new SchurEliminator<2, 2, Eigen::Dynamic>(options);
   }
   if ((options.row_block_size == 2) &&
       (options.e_block_size == 3) &&
@@ -85,8 +58,8 @@
   }
   if ((options.row_block_size == 2) &&
       (options.e_block_size == 3) &&
-      (options.f_block_size == Dynamic)) {
-    return new SchurEliminator<2, 3, Dynamic>(options);
+      (options.f_block_size == Eigen::Dynamic)) {
+    return new SchurEliminator<2, 3, Eigen::Dynamic>(options);
   }
   if ((options.row_block_size == 2) &&
       (options.e_block_size == 4) &&
@@ -100,8 +73,8 @@
   }
   if ((options.row_block_size == 2) &&
       (options.e_block_size == 4) &&
-      (options.f_block_size == Dynamic)) {
-    return new SchurEliminator<2, 4, Dynamic>(options);
+      (options.f_block_size == Eigen::Dynamic)) {
+    return new SchurEliminator<2, 4, Eigen::Dynamic>(options);
   }
   if ((options.row_block_size == 4) &&
       (options.e_block_size == 4) &&
@@ -120,13 +93,13 @@
   }
   if ((options.row_block_size == 4) &&
       (options.e_block_size == 4) &&
-      (options.f_block_size == Dynamic)) {
-    return new SchurEliminator<4, 4, Dynamic>(options);
+      (options.f_block_size == Eigen::Dynamic)) {
+    return new SchurEliminator<4, 4, Eigen::Dynamic>(options);
   }
-  if ((options.row_block_size == Dynamic) &&
-      (options.e_block_size == Dynamic) &&
-      (options.f_block_size == Dynamic)) {
-    return new SchurEliminator<Dynamic, Dynamic, Dynamic>(options);
+  if ((options.row_block_size == Eigen::Dynamic) &&
+      (options.e_block_size == Eigen::Dynamic) &&
+      (options.f_block_size == Eigen::Dynamic)) {
+    return new SchurEliminator<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>(options);
   }
 
 #endif
@@ -134,7 +107,7 @@
           << options.row_block_size << ","
           << options.e_block_size << ","
           << options.f_block_size << ">";
-  return new SchurEliminator<Dynamic, Dynamic, Dynamic>(options);
+  return new SchurEliminator<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>(options);
 }
 
 }  // namespace internal
diff --git a/internal/ceres/schur_eliminator.h b/internal/ceres/schur_eliminator.h
index c24fe43..877621b 100644
--- a/internal/ceres/schur_eliminator.h
+++ b/internal/ceres/schur_eliminator.h
@@ -213,9 +213,9 @@
 //
 // This implementation is mulithreaded using OpenMP. The level of
 // parallelism is controlled by LinearSolver::Options::num_threads.
-template <int kRowBlockSize = Dynamic,
-          int kEBlockSize = Dynamic,
-          int kFBlockSize = Dynamic >
+template <int kRowBlockSize = Eigen::Dynamic,
+          int kEBlockSize = Eigen::Dynamic,
+          int kFBlockSize = Eigen::Dynamic >
 class SchurEliminator : public SchurEliminatorBase {
  public:
   explicit SchurEliminator(const LinearSolver::Options& options)
diff --git a/internal/ceres/trust_region_minimizer_test.cc b/internal/ceres/trust_region_minimizer_test.cc
index 9c2780b..ffa2317 100644
--- a/internal/ceres/trust_region_minimizer_test.cc
+++ b/internal/ceres/trust_region_minimizer_test.cc
@@ -126,7 +126,7 @@
       dense_jacobian = down_cast<DenseSparseMatrix*>(jacobian);
       dense_jacobian->SetZero();
 
-      AlignedMatrixRef jacobian_matrix = dense_jacobian->mutable_matrix();
+      ColMajorMatrixRef jacobian_matrix = dense_jacobian->mutable_matrix();
       CHECK_EQ(jacobian_matrix.cols(), num_active_cols_);
 
       int column_index = 0;