diff --git a/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp b/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp
index 67b04537c..4cf16a974 100755
--- a/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp
+++ b/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp
@@ -12,8 +12,17 @@
 #ifndef NUMPY_EIGEN_CONVERTER_HPP
 #define NUMPY_EIGEN_CONVERTER_HPP
 
-#include "boost_python_headers.hpp"
-#include <iostream>
+#include <numpy_eigen/boost_python_headers.hpp>
+//#include <iostream>
+
+#include "numpy/numpyconfig.h"
+#ifdef NPY_1_7_API_VERSION
+#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
+#define NPE_PY_ARRAY_OBJECT PyArrayObject
+#else
+//TODO Remove this as soon as support for Numpy version before 1.7 is dropped
+#define NPE_PY_ARRAY_OBJECT PyObject
+#endif
 
 #define PY_ARRAY_UNIQUE_SYMBOL NP_Eigen_AS
 #include <numpy/arrayobject.h> 
@@ -92,8 +101,8 @@ struct NumpyEigenConverter
 	// Create a 1D array
 	npy_intp dimensions[1];
 	dimensions[0] = M.size();
-	P = PyArray_SimpleNew(1, dimensions, TypeToNumPy<scalar_t>::NpyType);	    	
-	numpyTypeDemuxer< CopyEigenToNumpyVector<const matrix_t> >(&M,P);	
+	P = PyArray_SimpleNew(1, dimensions, TypeToNumPy<scalar_t>::NpyType);
+	numpyTypeDemuxer< CopyEigenToNumpyVector<const matrix_t> >(&M, reinterpret_cast<NPE_PY_ARRAY_OBJECT*>(P));
       }
     else
       {
@@ -102,7 +111,7 @@ struct NumpyEigenConverter
 	dimensions[0] = M.rows();
 	dimensions[1] = M.cols();
 	P = PyArray_SimpleNew(2, dimensions, TypeToNumPy<scalar_t>::NpyType);
-	numpyTypeDemuxer< CopyEigenToNumpyMatrix<const matrix_t> >(&M,P);	
+	numpyTypeDemuxer< CopyEigenToNumpyMatrix<const matrix_t> >(&M, reinterpret_cast<NPE_PY_ARRAY_OBJECT*>(P));
       }
     
     // incrementing the reference seems to cause a memory leak.
@@ -131,7 +140,7 @@ struct NumpyEigenConverter
     return valid;
   }
       
-  static void checkMatrixSizes(PyObject * obj_ptr)
+  static void checkMatrixSizes(NPE_PY_ARRAY_OBJECT * obj_ptr)
   {
     int rows = PyArray_DIM(obj_ptr, 0);
     int cols = PyArray_DIM(obj_ptr, 1);
@@ -145,7 +154,7 @@ struct NumpyEigenConverter
       }
   }
 
-  static void checkRowVectorSizes(PyObject * obj_ptr, int cols)
+  static void checkRowVectorSizes(NPE_PY_ARRAY_OBJECT * obj_ptr, int cols)
   {
     if(!isDimensionValid(cols, ColsAtCompileTime, MaxColsAtCompileTime))
       {
@@ -154,7 +163,7 @@ struct NumpyEigenConverter
       }
   }
 
-  static void checkColumnVectorSizes(PyObject * obj_ptr, int rows)
+  static void checkColumnVectorSizes(NPE_PY_ARRAY_OBJECT * obj_ptr, int rows)
   {
     // Check if the type can accomidate one column.
     if(ColsAtCompileTime == Eigen::Dynamic || ColsAtCompileTime == 1)
@@ -173,7 +182,7 @@ struct NumpyEigenConverter
 
   }
 
-  static void checkVectorSizes(PyObject * obj_ptr)
+  static void checkVectorSizes(NPE_PY_ARRAY_OBJECT * obj_ptr)
   {
 	int size = PyArray_DIM(obj_ptr, 0);
 
@@ -206,8 +215,10 @@ struct NumpyEigenConverter
         return 0;
       }
 
+    NPE_PY_ARRAY_OBJECT * array_ptr = reinterpret_cast<NPE_PY_ARRAY_OBJECT*>(obj_ptr);
+
     // Check the type of the array.
-    int npyType = PyArray_ObjectType(obj_ptr, 0);
+    int npyType = getNpyType(array_ptr);
     
     if(!TypeToNumPy<scalar_t>::canConvert(npyType))
       {
@@ -219,7 +230,7 @@ struct NumpyEigenConverter
     
 
     // Check the array dimensions.
-    int nd = PyArray_NDIM(obj_ptr);
+    int nd = PyArray_NDIM(array_ptr);
     
     if(nd != 1 && nd != 2)
       {
@@ -228,12 +239,12 @@ struct NumpyEigenConverter
 
     if(nd == 1)
       {
-	checkVectorSizes(obj_ptr);
+	checkVectorSizes(array_ptr);
       }
     else 
       {
 	// Two-dimensional matrix type.
-	checkMatrixSizes(obj_ptr);
+	checkMatrixSizes(array_ptr);
       }
 
 
@@ -265,10 +276,17 @@ struct NumpyEigenConverter
 
     matrix_t & M = *Mp;
 
-    int nd = PyArray_NDIM(obj_ptr);
+    if (!PyArray_Check(obj_ptr))
+    {
+      THROW_TYPE_ERROR("construct is only defined for numpy array and matrix types");
+    }
+
+    NPE_PY_ARRAY_OBJECT * array_ptr = reinterpret_cast<NPE_PY_ARRAY_OBJECT*>(obj_ptr);
+
+    int nd = PyArray_NDIM(array_ptr);
     if(nd == 1)
       {
-	int size = PyArray_DIM(obj_ptr, 0);
+	int size = PyArray_DIM(array_ptr, 0);
 	// This is a vector type
 	if(RowsAtCompileTime == 1)
 	  {
@@ -280,15 +298,15 @@ struct NumpyEigenConverter
 	    // Column Vector
 	    M.resize(size,1);
 	  }
-	numpyTypeDemuxer< CopyNumpyToEigenVector<matrix_t> >(&M,obj_ptr);	
+	numpyTypeDemuxer< CopyNumpyToEigenVector<matrix_t> >(&M, array_ptr);
       }
     else
       {
-	int rows = PyArray_DIM(obj_ptr, 0);
-	int cols = PyArray_DIM(obj_ptr, 1);
+	int rows = PyArray_DIM(array_ptr, 0);
+	int cols = PyArray_DIM(array_ptr, 1);
 	
 	M.resize(rows,cols);
-	numpyTypeDemuxer< CopyNumpyToEigenMatrix<matrix_t> >(&M,obj_ptr);	
+	numpyTypeDemuxer< CopyNumpyToEigenMatrix<matrix_t> >(&M, array_ptr);
       }
 
     
diff --git a/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/copy_routines.hpp b/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/copy_routines.hpp
index 8ac94e8b7..b112a7426 100755
--- a/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/copy_routines.hpp
+++ b/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/copy_routines.hpp
@@ -9,16 +9,16 @@ struct CopyNumpyToEigenMatrix
   typedef typename matrix_t::Scalar scalar_t;
   
   template<typename T>
-  void exec(EIGEN_T * M_, PyObject * P_)
+  void exec(EIGEN_T * M_, NPE_PY_ARRAY_OBJECT * P_)
   {
     // Assumes M is already initialized.
     for(int r = 0; r < M_->rows(); r++)
       {
-	for(int c = 0; c < M_->cols(); c++)
-	  {
-	    T * p = static_cast<T*>(PyArray_GETPTR2(P_, r, c));
-	    (*M_)(r,c) = static_cast<scalar_t>(*p);
-	  }
+    for(int c = 0; c < M_->cols(); c++)
+      {
+        T * p = static_cast<T*>(PyArray_GETPTR2(P_, r, c));
+        (*M_)(r,c) = static_cast<scalar_t>(*p);
+      }
       }
   }
 
@@ -31,16 +31,16 @@ struct CopyEigenToNumpyMatrix
   typedef typename matrix_t::Scalar scalar_t;
   
   template<typename T>
-  void exec(EIGEN_T * M_, PyObject * P_)
+  void exec(EIGEN_T * M_, NPE_PY_ARRAY_OBJECT * P_)
   {
     // Assumes M is already initialized.
     for(int r = 0; r < M_->rows(); r++)
       {
-	for(int c = 0; c < M_->cols(); c++)
-	  {
-	    T * p = static_cast<T*>(PyArray_GETPTR2(P_, r, c));
-	    *p = static_cast<T>((*M_)(r,c));
-	  }
+    for(int c = 0; c < M_->cols(); c++)
+      {
+        T * p = static_cast<T*>(PyArray_GETPTR2(P_, r, c));
+        *p = static_cast<T>((*M_)(r,c));
+      }
       }
   }
 
@@ -53,13 +53,13 @@ struct CopyEigenToNumpyVector
   typedef typename matrix_t::Scalar scalar_t;
   
   template<typename T>
-  void exec(EIGEN_T * M_, PyObject * P_)
+  void exec(EIGEN_T * M_, NPE_PY_ARRAY_OBJECT * P_)
   {
     // Assumes M is already initialized.
     for(int i = 0; i < M_->size(); i++)
       {
-	T * p = static_cast<T*>(PyArray_GETPTR1(P_, i));
-	*p = static_cast<T>((*M_)(i));
+    T * p = static_cast<T*>(PyArray_GETPTR1(P_, i));
+    *p = static_cast<T>((*M_)(i));
       }
   }
 
@@ -73,13 +73,13 @@ struct CopyNumpyToEigenVector
   typedef typename matrix_t::Scalar scalar_t;
   
   template<typename T>
-  void exec(EIGEN_T * M_, PyObject * P_)
+  void exec(EIGEN_T * M_, NPE_PY_ARRAY_OBJECT * P_)
   {
     // Assumes M is already initialized.
     for(int i = 0; i < M_->size(); i++)
       {
-	T * p = static_cast<T*>(PyArray_GETPTR1(P_, i));
-	(*M_)(i) = static_cast<scalar_t>(*p);
+    T * p = static_cast<T*>(PyArray_GETPTR1(P_, i));
+    (*M_)(i) = static_cast<scalar_t>(*p);
       }
   }
 
@@ -91,10 +91,11 @@ struct CopyNumpyToEigenVector
 // Crazy syntax in this function was found here:
 // http://stackoverflow.com/questions/1840253/c-template-member-function-of-template-class-called-from-template-function/1840318#1840318
 template< typename FUNCTOR_T>
-inline void numpyTypeDemuxer(typename FUNCTOR_T::matrix_t * M, PyObject * P)
+inline void numpyTypeDemuxer(typename FUNCTOR_T::matrix_t * M, NPE_PY_ARRAY_OBJECT * P)
 {
   FUNCTOR_T f;
-  int npyType = PyArray_ObjectType(P, 0);
+
+  int npyType = getNpyType(P);
   switch(npyType)
     {
     case NPY_BOOL:
diff --git a/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/type_traits.hpp b/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/type_traits.hpp
index 36fae1a03..97e4bb5a0 100755
--- a/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/type_traits.hpp
+++ b/gtsam/3rdparty/numpy_eigen/include/numpy_eigen/type_traits.hpp
@@ -1,12 +1,12 @@
 #ifndef NUMPY_EIGEN_TYPE_TRAITS_HPP
 #define NUMPY_EIGEN_TYPE_TRAITS_HPP
 
-#define THROW_TYPE_ERROR(msg)						\
-  {									\
-    std::stringstream type_error_ss;					\
-    type_error_ss << msg;						\
-    PyErr_SetString(PyExc_TypeError, type_error_ss.str().c_str());	\
-    throw boost::python::error_already_set();				\
+#define THROW_TYPE_ERROR(msg)                       \
+  {                                 \
+    std::stringstream type_error_ss;                    \
+    type_error_ss << msg;                       \
+    PyErr_SetString(PyExc_TypeError, type_error_ss.str().c_str());  \
+    throw boost::python::error_already_set();               \
   }
 
 
@@ -99,6 +99,19 @@ template<> struct TypeToNumPy<double>
 };
 
 
+inline int getNpyType(PyObject * obj_ptr){
+  return PyArray_ObjectType(obj_ptr, 0);
+}
+
+#ifdef NPY_1_7_API_VERSION
+inline int getNpyType(PyArrayObject * obj_ptr){
+  PyArray_Descr * descr = PyArray_MinScalarType(obj_ptr);
+  if (descr == NULL){
+    THROW_TYPE_ERROR("Unsupported type: PyArray_MinScalarType returned null!");
+  }
+  return descr->type_num;
+}
+#endif
 
 inline const char * npyTypeToString(int npyType)
 {
@@ -157,18 +170,18 @@ inline const char * npyTypeToString(int npyType)
     }
 }
 
-inline std::string npyArrayTypeString(PyObject * obj_ptr)
+inline std::string npyArrayTypeString(NPE_PY_ARRAY_OBJECT * obj_ptr)
 {
   std::stringstream ss;
   int nd = PyArray_NDIM(obj_ptr);
-  ss << "numpy.array<" << npyTypeToString(PyArray_ObjectType(obj_ptr, 0)) << ">[";
+  ss << "numpy.array<" << npyTypeToString(getNpyType(obj_ptr)) << ">[";
   if(nd > 0)
     {
       ss << PyArray_DIM(obj_ptr, 0);
       for(int i = 1; i < nd; i++)
-	{
-	  ss << ", " << PyArray_DIM(obj_ptr, i);
-	}
+    {
+      ss << ", " << PyArray_DIM(obj_ptr, i);
+    }
     }
   ss << "]";
   return ss.str();