diff --git a/examples/render-cube.rs b/examples/render-cube.rs
index 5db4963..3c038bd 100644
--- a/examples/render-cube.rs
+++ b/examples/render-cube.rs
@@ -152,8 +152,8 @@ where
     NPTS: Dim,
     I: IntrinsicParameters<f64>,
     S: Storage<f64, NPTS, U3>,
-    DefaultAllocator: Allocator<f64, NPTS, U3>,
-    DefaultAllocator: Allocator<f64, NPTS, U2>,
+    DefaultAllocator: Allocator<NPTS, U3>,
+    DefaultAllocator: Allocator<NPTS, U2>,
 {
     // Project the original 3D coordinates to 2D pixel coordinates.
     let pixel_coords = cam.world_to_pixel(verts);
diff --git a/src/camera.rs b/src/camera.rs
index bfe3d5b..dc9a102 100644
--- a/src/camera.rs
+++ b/src/camera.rs
@@ -115,8 +115,8 @@ where
     where
         NPTS: Dim,
         InStorage: Storage<R, NPTS, U3>,
-        DefaultAllocator: Allocator<R, NPTS, U3>,
-        DefaultAllocator: Allocator<R, NPTS, U2>,
+        DefaultAllocator: Allocator<NPTS, U3>,
+        DefaultAllocator: Allocator<NPTS, U2>,
     {
         let camera_frame = self.extrinsics.world_to_camera(world);
         self.intrinsics.camera_to_pixel(&camera_frame)
@@ -139,9 +139,9 @@ where
         IN: Storage<R, NPTS, U2>,
         NPTS: Dim,
         I::BundleType: Bundle<R>,
-        DefaultAllocator: Allocator<R, U1, U2>,
-        DefaultAllocator: Allocator<R, NPTS, U2>,
-        DefaultAllocator: Allocator<R, NPTS, U3>,
+        DefaultAllocator: Allocator<U1, U2>,
+        DefaultAllocator: Allocator<NPTS, U2>,
+        DefaultAllocator: Allocator<NPTS, U3>,
     {
         // get camera frame rays
         let camera = self.intrinsics.pixel_to_camera(pixels);
diff --git a/src/extrinsics.rs b/src/extrinsics.rs
index b06db43..2f1246e 100644
--- a/src/extrinsics.rs
+++ b/src/extrinsics.rs
@@ -203,7 +203,7 @@ impl<R: RealField> ExtrinsicParameters<R> {
     where
         NPTS: Dim,
         InStorage: Storage<R, NPTS, U3>,
-        DefaultAllocator: Allocator<R, NPTS, U3>,
+        DefaultAllocator: Allocator<NPTS, U3>,
     {
         let mut world = Points::new(OMatrix::zeros_generic(
             NPTS::from_usize(cam_coords.data.nrows()),
@@ -237,7 +237,7 @@ impl<R: RealField> ExtrinsicParameters<R> {
         BType: Bundle<R>,
         NPTS: Dim,
         StorageCamera: Storage<R, NPTS, U3>,
-        DefaultAllocator: Allocator<R, NPTS, U3>,
+        DefaultAllocator: Allocator<NPTS, U3>,
     {
         camera.to_pose(self.cache.pose_inv.clone())
     }
@@ -250,7 +250,7 @@ impl<R: RealField> ExtrinsicParameters<R> {
     where
         NPTS: Dim,
         InStorage: Storage<R, NPTS, U3>,
-        DefaultAllocator: Allocator<R, NPTS, U3>,
+        DefaultAllocator: Allocator<NPTS, U3>,
     {
         let mut cam_coords = Points::new(OMatrix::zeros_generic(
             NPTS::from_usize(world.data.nrows()),
@@ -432,11 +432,7 @@ mod tests {
 
         // test roundtrip
         let camera_actual = e1.world_to_camera(&world_actual);
-        approx::assert_abs_diff_eq!(
-            cam_coords.data,
-            camera_actual.data,
-            epsilon = epsilon
-        );
+        approx::assert_abs_diff_eq!(cam_coords.data, camera_actual.data, epsilon = epsilon);
     }
 
     #[test]
diff --git a/src/intrinsics_orthographic.rs b/src/intrinsics_orthographic.rs
index 056cc57..2340c98 100644
--- a/src/intrinsics_orthographic.rs
+++ b/src/intrinsics_orthographic.rs
@@ -84,7 +84,7 @@ where
         Self::BundleType: Bundle<R>,
         IN: Storage<R, NPTS, U2>,
         NPTS: Dim,
-        DefaultAllocator: Allocator<R, NPTS, U3>,
+        DefaultAllocator: Allocator<NPTS, U3>,
     {
         let zero: R = convert(0.0);
 
@@ -121,7 +121,7 @@ where
     where
         IN: Storage<R, NPTS, U3>,
         NPTS: Dim,
-        DefaultAllocator: Allocator<R, NPTS, U2>,
+        DefaultAllocator: Allocator<NPTS, U2>,
     {
         let mut result = Pixels::new(OMatrix::zeros_generic(
             NPTS::from_usize(camera.data.nrows()),
diff --git a/src/intrinsics_perspective.rs b/src/intrinsics_perspective.rs
index 11cae9e..e5c9e23 100644
--- a/src/intrinsics_perspective.rs
+++ b/src/intrinsics_perspective.rs
@@ -188,7 +188,7 @@ where
         Self::BundleType: Bundle<R>,
         IN: Storage<R, NPTS, U2>,
         NPTS: Dim,
-        DefaultAllocator: Allocator<R, NPTS, U3>,
+        DefaultAllocator: Allocator<NPTS, U3>,
     {
         let one: R = convert(1.0);
 
@@ -225,7 +225,7 @@ where
     where
         IN: Storage<R, NPTS, U3>,
         NPTS: Dim,
-        DefaultAllocator: Allocator<R, NPTS, U2>,
+        DefaultAllocator: Allocator<NPTS, U2>,
     {
         let mut result = Pixels::new(OMatrix::zeros_generic(
             NPTS::from_usize(camera.data.nrows()),
diff --git a/src/lib.rs b/src/lib.rs
index 03dbcdf..6eabef5 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -267,7 +267,7 @@ where
     R: RealField,
     NPTS: DimName,
     StorageMultiple: Storage<R, NPTS, U3>,
-    DefaultAllocator: Allocator<R, NPTS, U3>,
+    DefaultAllocator: Allocator<NPTS, U3>,
 {
     /// get directions of each ray in bundle
     #[inline]
@@ -368,7 +368,7 @@ where
     #[inline]
     pub fn point_on_ray(&self) -> Points<Coords, R, NPTS, Owned<R, NPTS, U3>>
     where
-        DefaultAllocator: Allocator<R, NPTS, U3>,
+        DefaultAllocator: Allocator<NPTS, U3>,
     {
         self.bundle_type.point_on_ray(&self.data)
     }
@@ -380,7 +380,7 @@ where
         distance: R,
     ) -> Points<Coords, R, NPTS, Owned<R, NPTS, U3>>
     where
-        DefaultAllocator: Allocator<R, NPTS, U3>,
+        DefaultAllocator: Allocator<NPTS, U3>,
     {
         self.bundle_type
             .point_on_ray_at_distance(&self.data, distance)
@@ -395,7 +395,7 @@ where
         R: RealField,
         NPTS: Dim,
         OutFrame: CoordinateSystem,
-        DefaultAllocator: Allocator<R, NPTS, U3>,
+        DefaultAllocator: Allocator<NPTS, U3>,
     {
         self.bundle_type.to_pose(pose, &self.data)
     }
@@ -447,7 +447,7 @@ where
     where
         NPTS: DimName,
         StorageIn: Storage<R, NPTS, U3>,
-        DefaultAllocator: Allocator<R, NPTS, U3>;
+        DefaultAllocator: Allocator<NPTS, U3>;
 
     /// Get centers of each ray in bundle.
     ///
@@ -461,7 +461,7 @@ where
     where
         NPTS: DimName,
         StorageIn: Storage<R, NPTS, U3>,
-        DefaultAllocator: Allocator<R, NPTS, U3>;
+        DefaultAllocator: Allocator<NPTS, U3>;
 
     /// Return points on on the input rays.
     ///
@@ -476,7 +476,7 @@ where
         NPTS: Dim,
         StorageIn: Storage<R, NPTS, U3>,
         OutFrame: CoordinateSystem,
-        DefaultAllocator: Allocator<R, NPTS, U3>;
+        DefaultAllocator: Allocator<NPTS, U3>;
 
     /// Return points on on the input rays at a defined distance from the origin(s).
     fn point_on_ray_at_distance<NPTS, StorageIn, OutFrame>(
@@ -489,7 +489,7 @@ where
         NPTS: Dim,
         StorageIn: Storage<R, NPTS, U3>,
         OutFrame: CoordinateSystem,
-        DefaultAllocator: Allocator<R, NPTS, U3>;
+        DefaultAllocator: Allocator<NPTS, U3>;
 
     /// Convert the input rays by the pose given.
     fn to_pose<NPTS, StorageIn, OutFrame>(
@@ -503,7 +503,7 @@ where
         NPTS: Dim,
         StorageIn: Storage<R, NPTS, U3>,
         OutFrame: CoordinateSystem,
-        DefaultAllocator: Allocator<R, NPTS, U3>;
+        DefaultAllocator: Allocator<NPTS, U3>;
 }
 
 /// A geometric model of camera coordinates to pixels (and vice versa).
@@ -523,9 +523,9 @@ where
         Self::BundleType: Bundle<R>,
         IN: Storage<R, NPTS, U2>,
         NPTS: Dim,
-        DefaultAllocator: Allocator<R, U1, U2>, // needed to make life easy for implementors
-        DefaultAllocator: Allocator<R, NPTS, U2>, // needed to make life easy for implementors
-        DefaultAllocator: Allocator<R, NPTS, U3>;
+        DefaultAllocator: Allocator<U1, U2>, // needed to make life easy for implementors
+        DefaultAllocator: Allocator<NPTS, U2>, // needed to make life easy for implementors
+        DefaultAllocator: Allocator<NPTS, U3>;
 
     /// project camera coords to pixel coordinates
     fn camera_to_pixel<IN, NPTS>(
@@ -535,7 +535,7 @@ where
     where
         IN: Storage<R, NPTS, U3>,
         NPTS: Dim,
-        DefaultAllocator: Allocator<R, NPTS, U2>;
+        DefaultAllocator: Allocator<NPTS, U2>;
 }
 
 #[cfg(test)]
diff --git a/src/ray_bundle_types.rs b/src/ray_bundle_types.rs
index b637244..c19ef65 100644
--- a/src/ray_bundle_types.rs
+++ b/src/ray_bundle_types.rs
@@ -50,7 +50,7 @@ where
     where
         NPTS: nalgebra::DimName,
         StorageIn: Storage<R, NPTS, U3>,
-        DefaultAllocator: Allocator<R, NPTS, U3>,
+        DefaultAllocator: Allocator< NPTS, U3>,
     {
         // TODO: do this more smartly/efficiently
         let mut result = nalgebra::OMatrix::<R, NPTS, U3>::zeros();
@@ -69,7 +69,7 @@ where
     where
         NPTS: nalgebra::DimName,
         StorageIn: Storage<R, NPTS, U3>,
-        DefaultAllocator: Allocator<R, NPTS, U3>,
+        DefaultAllocator: Allocator< NPTS, U3>,
     {
         // TODO: do this more smartly/efficiently
         let mut result = nalgebra::OMatrix::<R, NPTS, U3>::zeros();
@@ -90,7 +90,7 @@ where
         NPTS: Dim,
         StorageIn: Storage<R, NPTS, U3>,
         OutFrame: CoordinateSystem,
-        DefaultAllocator: Allocator<R, NPTS, U3>,
+        DefaultAllocator: Allocator< NPTS, U3>,
     {
         let mut result = Points::new(OMatrix::zeros_generic(
             NPTS::from_usize(directions.nrows()),
@@ -119,7 +119,7 @@ where
         NPTS: Dim,
         StorageIn: Storage<R, NPTS, U3>,
         OutFrame: CoordinateSystem,
-        DefaultAllocator: Allocator<R, NPTS, U3>,
+        DefaultAllocator: Allocator< NPTS, U3>,
     {
         let mut result = Points::new(OMatrix::zeros_generic(
             NPTS::from_usize(directions.nrows()),
@@ -154,7 +154,7 @@ where
         NPTS: Dim,
         StorageIn: Storage<R, NPTS, U3>,
         OutFrame: CoordinateSystem,
-        DefaultAllocator: Allocator<R, NPTS, U3>,
+        DefaultAllocator: Allocator< NPTS, U3>,
     {
         let bundle_type = Self::new_shared_zero_origin();
         let mut reposed = RayBundle::new(
@@ -214,7 +214,7 @@ impl<R: RealField> Bundle<R> for SharedDirectionRayBundle<R> {
     where
         NPTS: nalgebra::DimName,
         StorageIn: Storage<R, NPTS, U3>,
-        DefaultAllocator: Allocator<R, NPTS, U3>,
+        DefaultAllocator: Allocator< NPTS, U3>,
     {
         // TODO: do this more smartly/efficiently
         let mut result = nalgebra::OMatrix::<R, NPTS, U3>::zeros();
@@ -233,7 +233,7 @@ impl<R: RealField> Bundle<R> for SharedDirectionRayBundle<R> {
     where
         NPTS: nalgebra::DimName,
         StorageIn: Storage<R, NPTS, U3>,
-        DefaultAllocator: Allocator<R, NPTS, U3>,
+        DefaultAllocator: Allocator< NPTS, U3>,
     {
         // TODO: do this more smartly/efficiently
         let mut result = nalgebra::OMatrix::<R, NPTS, U3>::zeros();
@@ -254,7 +254,7 @@ impl<R: RealField> Bundle<R> for SharedDirectionRayBundle<R> {
         NPTS: Dim,
         StorageIn: Storage<R, NPTS, U3>,
         OutFrame: CoordinateSystem,
-        DefaultAllocator: Allocator<R, NPTS, U3>,
+        DefaultAllocator: Allocator< NPTS, U3>,
     {
         let mut result = Points::new(OMatrix::zeros_generic(
             NPTS::from_usize(centers.nrows()),
@@ -283,7 +283,7 @@ impl<R: RealField> Bundle<R> for SharedDirectionRayBundle<R> {
         NPTS: Dim,
         StorageIn: Storage<R, NPTS, U3>,
         OutFrame: CoordinateSystem,
-        DefaultAllocator: Allocator<R, NPTS, U3>,
+        DefaultAllocator: Allocator< NPTS, U3>,
     {
         let mut result = Points::new(OMatrix::zeros_generic(
             NPTS::from_usize(centers.nrows()),
@@ -316,7 +316,7 @@ impl<R: RealField> Bundle<R> for SharedDirectionRayBundle<R> {
         NPTS: Dim,
         StorageIn: Storage<R, NPTS, U3>,
         OutFrame: CoordinateSystem,
-        DefaultAllocator: Allocator<R, NPTS, U3>,
+        DefaultAllocator: Allocator< NPTS, U3>,
     {
         let bundle_type = Self::new_plusz_shared_direction();
 
diff --git a/src/ray_intersection.rs b/src/ray_intersection.rs
index d4c07f0..327a774 100644
--- a/src/ray_intersection.rs
+++ b/src/ray_intersection.rs
@@ -46,9 +46,9 @@ pub fn best_intersection_of_rays<Coords, R>(
 where
     Coords: CoordinateSystem,
     R: RealField,
-    DefaultAllocator: Allocator<R, Dyn, U3>,
-    DefaultAllocator: Allocator<R, U1, Dyn>,
-    DefaultAllocator: Allocator<R, U1, U3>,
+    DefaultAllocator: Allocator<Dyn, U3>,
+    DefaultAllocator: Allocator<U1, Dyn>,
+    DefaultAllocator: Allocator<U1, U3>,
 {
     if rays.len() < 2 {
         return Err(Error::MinimumTwoRaysNeeded);
@@ -96,27 +96,27 @@ where
 
     let minusone: R = na::convert(-1.0);
 
-    for (x, xxm1) in nx.into_iter().zip(xxm1.iter_mut()) {
+    for (x, xxm1) in nx.iter().zip(xxm1.iter_mut()) {
         *xxm1 = x.clone().powi(2).add(minusone.clone());
     }
 
-    for (y, yym1) in ny.into_iter().zip(yym1.iter_mut()) {
+    for (y, yym1) in ny.iter().zip(yym1.iter_mut()) {
         *yym1 = y.clone().powi(2).add(minusone.clone());
     }
 
-    for (z, zzm1) in nz.into_iter().zip(zzm1.iter_mut()) {
+    for (z, zzm1) in nz.iter().zip(zzm1.iter_mut()) {
         *zzm1 = z.clone().powi(2).add(minusone.clone());
     }
 
-    for (x, y, xy) in izip!(nx.into_iter(), ny.into_iter(), xy.iter_mut()) {
+    for (x, y, xy) in izip!(nx.iter(), ny.iter(), xy.iter_mut()) {
         *xy = x.clone() * y.clone();
     }
 
-    for (x, z, xz) in izip!(nx.into_iter(), nz.into_iter(), xz.iter_mut()) {
+    for (x, z, xz) in izip!(nx.iter(), nz.iter(), xz.iter_mut()) {
         *xz = x.clone() * z.clone();
     }
 
-    for (y, z, yz) in izip!(ny.into_iter(), nz.into_iter(), yz.iter_mut()) {
+    for (y, z, yz) in izip!(ny.iter(), nz.iter(), yz.iter_mut()) {
         *yz = y.clone() * z.clone();
     }