diff --git a/include/ceres/numeric_diff_cost_function.h b/include/ceres/numeric_diff_cost_function.h
index bbaefca5b..8544e44d0 100644
--- a/include/ceres/numeric_diff_cost_function.h
+++ b/include/ceres/numeric_diff_cost_function.h
@@ -93,11 +93,13 @@ struct Differencer {
     using Eigen::Map;
     using Eigen::Matrix;
     using Eigen::RowMajor;
+    using Eigen::ColMajor;
 
     typedef Matrix<double, num_residuals, 1> ResidualVector;
     typedef Matrix<double, parameter_block_size, 1> ParameterVector;
-    typedef Matrix<double, num_residuals, parameter_block_size, RowMajor>
-        JacobianMatrix;
+    typedef Matrix<double, num_residuals, parameter_block_size,
+                   (parameter_block_size == 1 &&
+                    num_residuals > 1) ? ColMajor : RowMajor> JacobianMatrix;
 
     Map<JacobianMatrix> parameter_jacobian(jacobians[parameter_block],
                                            num_residuals,
diff --git a/internal/ceres/numeric_diff_cost_function_test.cc b/internal/ceres/numeric_diff_cost_function_test.cc
index 1b17aa6c3..df12eb98d 100644
--- a/internal/ceres/numeric_diff_cost_function_test.cc
+++ b/internal/ceres/numeric_diff_cost_function_test.cc
@@ -37,6 +37,7 @@
 #include "ceres/cost_function.h"
 #include "ceres/internal/macros.h"
 #include "ceres/internal/scoped_ptr.h"
+#include "ceres/sized_cost_function.h"
 #include "ceres/stringprintf.h"
 #include "ceres/test_util.h"
 #include "ceres/types.h"
@@ -230,5 +231,41 @@ TEST(NumericDiffCostFunction, TransendentalOperationsInCostFunction) {
   }
 }
 
+
+template<int num_rows, int num_cols>
+class SizeTestingCostFunction : public SizedCostFunction<num_rows, num_cols> {
+ public:
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** jacobians) const {
+    return true;
+  }
+};
+
+// As described in
+// http://forum.kde.org/viewtopic.php?f=74&t=98536#p210774
+// Eigen3 has restrictions on the Row/Column major storage of vectors,
+// depending on their dimensions. This test ensures that the correct
+// templates are instantiated for various shapes of the Jacobian
+// matrix.
+TEST(NumericDiffCostFunction, EigenRowMajorColMajorTest) {
+  scoped_ptr<CostFunction> cost_function;
+  cost_function.reset(
+      new NumericDiffCostFunction<SizeTestingCostFunction<1,1>,  CENTRAL, 1, 1>(
+          new SizeTestingCostFunction<1,1>, ceres::TAKE_OWNERSHIP));
+
+  cost_function.reset(
+      new NumericDiffCostFunction<SizeTestingCostFunction<2,1>,  CENTRAL, 2, 1>(
+          new SizeTestingCostFunction<2,1>, ceres::TAKE_OWNERSHIP));
+
+  cost_function.reset(
+      new NumericDiffCostFunction<SizeTestingCostFunction<1,2>,  CENTRAL, 1, 2>(
+          new SizeTestingCostFunction<1,2>, ceres::TAKE_OWNERSHIP));
+
+  cost_function.reset(
+      new NumericDiffCostFunction<SizeTestingCostFunction<2,2>,  CENTRAL, 2, 2>(
+          new SizeTestingCostFunction<2,2>, ceres::TAKE_OWNERSHIP));
+}
+
 }  // namespace internal
 }  // namespace ceres