diff --git a/g2o/apps/g2o_viewer/abstract_properties_widget.cpp b/g2o/apps/g2o_viewer/abstract_properties_widget.cpp
index e4b8782df..c4acdb4c7 100644
--- a/g2o/apps/g2o_viewer/abstract_properties_widget.cpp
+++ b/g2o/apps/g2o_viewer/abstract_properties_widget.cpp
@@ -21,6 +21,7 @@
 #include <QLineEdit>
 #include <cassert>
 #include <iostream>
+#include <memory>
 
 #include "g2o/stuff/property.h"
 
@@ -87,12 +88,14 @@ void AbstractPropertiesWidget::updateDisplayedProperties() {
 
 void AbstractPropertiesWidget::applyProperties() {
   assert(tableWidget->rowCount() == (int)propNames_.size());
-  g2o::PropertyMap* properties = propertyMap();
+  const g2o::PropertyMap* properties = propertyMap();
   if (!properties) return;
   for (int r = 0; r < tableWidget->rowCount(); ++r) {
     const std::string& propName = propNames_[r];
+    // HACK cast away the const
     std::shared_ptr<g2o::BaseProperty> baseProp =
-        properties->getProperty<g2o::BaseProperty>(propName);
+        std::const_pointer_cast<g2o::BaseProperty>(
+            properties->getProperty<g2o::BaseProperty>(propName));
     if (!baseProp) continue;
 
     if (dynamic_cast<g2o::Property<bool>*>(baseProp.get())) {
diff --git a/g2o/apps/g2o_viewer/abstract_properties_widget.h b/g2o/apps/g2o_viewer/abstract_properties_widget.h
index f992dbb89..f9509cc53 100644
--- a/g2o/apps/g2o_viewer/abstract_properties_widget.h
+++ b/g2o/apps/g2o_viewer/abstract_properties_widget.h
@@ -20,7 +20,6 @@
 #define G2O_ABSTRACT_PROPERTIES_WINDOW_H
 
 #include <QDialog>
-#include <memory>
 #include <string>
 #include <vector>
 
@@ -42,7 +41,7 @@ class G2O_VIEWER_API AbstractPropertiesWidget
   explicit AbstractPropertiesWidget(QWidget* parent = nullptr);
   ~AbstractPropertiesWidget() override = default;
 
-  virtual g2o::PropertyMap* propertyMap() = 0;
+  virtual const g2o::PropertyMap* propertyMap() = 0;
 
   void on_btnApply_clicked();
   void on_btnOK_clicked();
diff --git a/g2o/apps/g2o_viewer/g2o_qglviewer.cpp b/g2o/apps/g2o_viewer/g2o_qglviewer.cpp
index 4dd6baa5f..02c41e3cc 100644
--- a/g2o/apps/g2o_viewer/g2o_qglviewer.cpp
+++ b/g2o/apps/g2o_viewer/g2o_qglviewer.cpp
@@ -51,6 +51,16 @@ namespace g2o {
 
 namespace {
 
+void applyAction(HyperGraph& graph, HyperGraphElementAction& action,
+                 HyperGraphElementAction::Parameters& parameters) {
+  for (auto& it : graph.vertices()) {
+    (action)(*it.second, parameters);
+  }
+  for (const auto& it : graph.edges()) {
+    (action)(*it, parameters);
+  }
+}
+
 /**
  * \brief helper for setting up a camera for qglviewer
  */
@@ -80,7 +90,6 @@ class StandardCamera : public qglviewer::Camera {
 G2oQGLViewer::G2oQGLViewer(QWidget* parent)
     : QGLViewer(parent), drawActions_(nullptr) {
   setAxisIsDrawn(false);
-  drawActionParameters_ = std::make_shared<DrawAction::Parameters>();
 }
 
 G2oQGLViewer::~G2oQGLViewer() { glDeleteLists(drawList_, 1); }
diff --git a/g2o/apps/g2o_viewer/g2o_qglviewer.h b/g2o/apps/g2o_viewer/g2o_qglviewer.h
index 4b887c913..a86d42a75 100644
--- a/g2o/apps/g2o_viewer/g2o_qglviewer.h
+++ b/g2o/apps/g2o_viewer/g2o_qglviewer.h
@@ -49,7 +49,7 @@ class G2O_VIEWER_API G2oQGLViewer : public QGLViewer {
   [[nodiscard]] bool updateDisplay() const { return updateDisplay_; }
   void setUpdateDisplay(bool updateDisplay);
 
-  [[nodiscard]] std::shared_ptr<DrawAction::Parameters> parameters() const {
+  [[nodiscard]] const DrawAction::Parameters& parameters() const {
     return drawActionParameters_;
   }
 
@@ -59,7 +59,7 @@ class G2O_VIEWER_API G2oQGLViewer : public QGLViewer {
   HyperGraphElementAction::HyperGraphElementActionPtr drawActions_;
   GLuint drawList_ = 0;
   bool updateDisplay_ = true;
-  std::shared_ptr<DrawAction::Parameters> drawActionParameters_;
+  DrawAction::Parameters drawActionParameters_;
 };
 
 }  // namespace g2o
diff --git a/g2o/apps/g2o_viewer/gui_hyper_graph_action.cpp b/g2o/apps/g2o_viewer/gui_hyper_graph_action.cpp
index bd841ddd3..997b418cb 100644
--- a/g2o/apps/g2o_viewer/gui_hyper_graph_action.cpp
+++ b/g2o/apps/g2o_viewer/gui_hyper_graph_action.cpp
@@ -25,16 +25,15 @@
 
 namespace g2o {
 
-bool GuiHyperGraphAction::operator()(
-    const HyperGraph& graph,
-    const std::shared_ptr<HyperGraphAction::Parameters>& parameters) {
+bool GuiHyperGraphAction::operator()(const HyperGraph& graph,
+                                     HyperGraphAction::Parameters& parameters) {
   (void)graph;
   if (viewer) {
     viewer->setUpdateDisplay(true);
     viewer->update();
 
     if (dumpScreenshots) {
-      auto p = std::dynamic_pointer_cast<ParametersIteration>(parameters);
+      const auto* p = dynamic_cast<ParametersIteration*>(&parameters);
       if (p) {
         viewer->setSnapshotFormat(QString("PNG"));
         viewer->setSnapshotQuality(-1);
diff --git a/g2o/apps/g2o_viewer/gui_hyper_graph_action.h b/g2o/apps/g2o_viewer/gui_hyper_graph_action.h
index 59a2907af..cdef2c885 100644
--- a/g2o/apps/g2o_viewer/gui_hyper_graph_action.h
+++ b/g2o/apps/g2o_viewer/gui_hyper_graph_action.h
@@ -36,8 +36,7 @@ class G2O_VIEWER_API GuiHyperGraphAction : public HyperGraphAction {
    * iteration
    */
   bool operator()(const HyperGraph& graph,
-                  const std::shared_ptr<HyperGraphAction::Parameters>&
-                      parameters = nullptr) override;
+                  HyperGraphAction::Parameters& parameters) override;
 
   G2oQGLViewer* viewer = nullptr;  ///< the viewer which visualizes the graph
   bool dumpScreenshots = false;
diff --git a/g2o/apps/g2o_viewer/properties_widget.cpp b/g2o/apps/g2o_viewer/properties_widget.cpp
index ffbe7a0af..bb4164e0f 100644
--- a/g2o/apps/g2o_viewer/properties_widget.cpp
+++ b/g2o/apps/g2o_viewer/properties_widget.cpp
@@ -32,8 +32,7 @@ void PropertiesWidget::setSolver(
   updateDisplayedProperties();
 }
 
-g2o::PropertyMap* PropertiesWidget::propertyMap() {
+const g2o::PropertyMap* PropertiesWidget::propertyMap() {
   if (!solver_) return nullptr;
-  // HACK cast away the constness of the property map
-  return const_cast<g2o::PropertyMap*>(&solver_->properties());
+  return &solver_->properties();
 }
diff --git a/g2o/apps/g2o_viewer/properties_widget.h b/g2o/apps/g2o_viewer/properties_widget.h
index 9fde511a0..74a1c95e6 100644
--- a/g2o/apps/g2o_viewer/properties_widget.h
+++ b/g2o/apps/g2o_viewer/properties_widget.h
@@ -33,7 +33,7 @@ class G2O_VIEWER_API PropertiesWidget : public AbstractPropertiesWidget {
   explicit PropertiesWidget(QWidget* parent = nullptr);
   ~PropertiesWidget() override = default;
 
-  g2o::PropertyMap* propertyMap() override;
+  const g2o::PropertyMap* propertyMap() override;
 
   void setSolver(std::shared_ptr<g2o::OptimizationAlgorithm> solver);
 
diff --git a/g2o/apps/g2o_viewer/viewer_properties_widget.cpp b/g2o/apps/g2o_viewer/viewer_properties_widget.cpp
index 0cd4813e2..335316b27 100644
--- a/g2o/apps/g2o_viewer/viewer_properties_widget.cpp
+++ b/g2o/apps/g2o_viewer/viewer_properties_widget.cpp
@@ -18,7 +18,7 @@
 
 #include "viewer_properties_widget.h"
 
-#include "g2o/stuff/property.h"
+#include "g2o/core/hyper_graph_action.h"
 #include "g2o_qglviewer.h"
 
 #ifdef __GNUC__
@@ -80,7 +80,9 @@ std::string ViewerPropertiesWidget::humanReadablePropName(
   return demangleName(propertyName);
 }
 
-g2o::PropertyMap* ViewerPropertiesWidget::propertyMap() {
+const g2o::PropertyMap* ViewerPropertiesWidget::propertyMap() {
   if (!viewer_) return nullptr;
-  return viewer_->parameters().get();
+  const auto* params =
+      dynamic_cast<const g2o::DrawAction::Parameters*>(&viewer_->parameters());
+  return params;
 }
diff --git a/g2o/apps/g2o_viewer/viewer_properties_widget.h b/g2o/apps/g2o_viewer/viewer_properties_widget.h
index 98a2046f4..a52d212d6 100644
--- a/g2o/apps/g2o_viewer/viewer_properties_widget.h
+++ b/g2o/apps/g2o_viewer/viewer_properties_widget.h
@@ -35,7 +35,7 @@ class G2O_VIEWER_API ViewerPropertiesWidget : public AbstractPropertiesWidget {
   ~ViewerPropertiesWidget() override = default;
 
   void setViewer(g2o::G2oQGLViewer* viewer);
-  g2o::PropertyMap* propertyMap() override;
+  const g2o::PropertyMap* propertyMap() override;
 
  protected:
   g2o::G2oQGLViewer* viewer_ = nullptr;
diff --git a/g2o/core/hyper_graph_action.cpp b/g2o/core/hyper_graph_action.cpp
index bc6c2ea4c..2a6d0df27 100644
--- a/g2o/core/hyper_graph_action.cpp
+++ b/g2o/core/hyper_graph_action.cpp
@@ -39,42 +39,24 @@ namespace g2o {
 std::unique_ptr<HyperGraphActionLibrary>
     HyperGraphActionLibrary::actionLibInstance_;
 
-HyperGraphAction::Parameters::~Parameters() = default;
-
 HyperGraphAction::ParametersIteration::ParametersIteration(int iter)
     : HyperGraphAction::Parameters(), iteration(iter) {}
 
-HyperGraphAction::~HyperGraphAction() = default;
-
-bool HyperGraphAction::operator()(const HyperGraph&,
-                                  const std::shared_ptr<Parameters>&) {
-  return false;
-}
-
-HyperGraphElementAction::Parameters::~Parameters() = default;
-
-HyperGraphElementAction::HyperGraphElementAction(std::string typeName)
-    : typeName_(std::move(typeName)) {}
+HyperGraphElementAction::HyperGraphElementAction(std::string typeName,
+                                                 std::string name)
+    : typeName_(std::move(typeName)), name_(std::move(name)) {}
 
 void HyperGraphElementAction::setTypeName(std::string typeName) {
   typeName_ = std::move(typeName);
 }
 
-bool HyperGraphElementAction::operator()(HyperGraph::HyperGraphElement&,
-                                         const std::shared_ptr<Parameters>&) {
-  return false;
-}
-
-HyperGraphElementAction::~HyperGraphElementAction() = default;
-
 HyperGraphElementActionCollection::HyperGraphElementActionCollection(
     const std::string& name) {
   name_ = name;
 }
 
 bool HyperGraphElementActionCollection::operator()(
-    HyperGraph::HyperGraphElement& element,
-    const std::shared_ptr<Parameters>& parameters) {
+    HyperGraph::HyperGraphElement& element, Parameters& parameters) {
   auto it = actionMap_.find(typeid(element).name());
   if (it == actionMap_.end()) return false;
   HyperGraphElementAction* action = it->second.get();
@@ -83,9 +65,8 @@ bool HyperGraphElementActionCollection::operator()(
 
 bool HyperGraphElementActionCollection::registerAction(
     const HyperGraphElementAction::HyperGraphElementActionPtr& action) {
-#ifdef G2O_DEBUG_ACTIONLIB
-  G2O_DEBUG("{} {}", action->name(), action->typeName());
-#endif
+  G2O_TRACE("Register action name: {} type: {}", action->name(),
+            action->typeName());
   if (action->name() != name()) {
     G2O_ERROR(
         "invalid attempt to register an action in a collection with a "
@@ -143,9 +124,7 @@ bool HyperGraphActionLibrary::registerAction(
     }
     return collection->registerAction(action);
   }
-#ifdef G2O_DEBUG_ACTIONLIB
-  G2O_DEBUG("creating collection for {}", action->name());
-#endif
+  G2O_TRACE("creating collection for {}", action->name());
   collection =
       std::make_shared<HyperGraphElementActionCollection>(action->name());
   actionMap_.insert(std::make_pair(action->name(), collection));
@@ -185,23 +164,20 @@ DrawAction::Parameters::Parameters() = default;
 DrawAction::DrawAction(const std::string& typeName_)
     : HyperGraphElementAction(typeName_) {
   name_ = "draw";
-  // previousParams_.reset(reinterpret_cast<Parameters*>(0x42));
-  refreshPropertyPtrs(nullptr);
-  cacheDrawActions_ = nullptr;
 }
 
-bool DrawAction::refreshPropertyPtrs(
-    const std::shared_ptr<HyperGraphElementAction::Parameters>& params) {
-  if (previousParams_ == params) return false;
-  auto p = std::dynamic_pointer_cast<DrawAction::Parameters>(params);
+DrawAction::Parameters* DrawAction::refreshPropertyPtrs(
+    HyperGraphElementAction::Parameters& params) {
+  if (previousParams_ == &params) return nullptr;
+  auto* p = dynamic_cast<DrawAction::Parameters*>(&params);
   if (!p) {
     previousParams_ = nullptr;
     show_ = nullptr;
   } else {
-    previousParams_ = p;
+    previousParams_ = &p;
     show_ = p->makeProperty<BoolProperty>(typeName_ + "::SHOW", true);
   }
-  return true;
+  return p;
 }
 
 void DrawAction::initializeDrawActionsCache() {
@@ -211,39 +187,20 @@ void DrawAction::initializeDrawActionsCache() {
   }
 }
 
-void DrawAction::drawCache(
-    const CacheContainer& caches,
-    const std::shared_ptr<HyperGraphElementAction::Parameters>& params) {
+void DrawAction::drawCache(const CacheContainer& caches,
+                           HyperGraphElementAction::Parameters& params) {
   for (const auto& cache : caches) {
     Cache* c = cache.second.get();
     (*cacheDrawActions_)(*c, params);
   }
 }
 
-void DrawAction::drawUserData(
-    const HyperGraph::DataContainer::DataVector& data,
-    const std::shared_ptr<HyperGraphElementAction::Parameters>& params) {
+void DrawAction::drawUserData(const HyperGraph::DataContainer::DataVector& data,
+                              HyperGraphElementAction::Parameters& params) {
   if (!cacheDrawActions_) return;
   for (const auto& d : data) {
     (*cacheDrawActions_)(*d, params);
   }
 }
 
-void applyAction(
-    HyperGraph& graph, HyperGraphElementAction& action,
-    const std::shared_ptr<HyperGraphElementAction::Parameters>& parameters,
-    const std::string& typeName) {
-  for (auto& it : graph.vertices()) {
-    auto& aux = *it.second;
-    if (typeName.empty() || typeid(aux).name() == typeName) {
-      (action)(*it.second, parameters);
-    }
-  }
-  for (const auto& it : graph.edges()) {
-    auto& aux = *it;
-    if (typeName.empty() || typeid(aux).name() == typeName)
-      (action)(aux, parameters);
-  }
-}
-
 }  // namespace g2o
diff --git a/g2o/core/hyper_graph_action.h b/g2o/core/hyper_graph_action.h
index 11d7ae5d6..8d70c4ca0 100644
--- a/g2o/core/hyper_graph_action.h
+++ b/g2o/core/hyper_graph_action.h
@@ -35,9 +35,6 @@
 #include "g2o_core_api.h"
 #include "hyper_graph.h"
 
-// define to get verbose output
-// #define G2O_DEBUG_ACTIONLIB
-
 namespace g2o {
 
 class CacheContainer;
@@ -49,7 +46,7 @@ class G2O_CORE_API HyperGraphAction {
  public:
   class G2O_CORE_API Parameters {
    public:
-    virtual ~Parameters();
+    virtual ~Parameters() = default;
   };
 
   class G2O_CORE_API ParametersIteration : public Parameters {
@@ -58,14 +55,12 @@ class G2O_CORE_API HyperGraphAction {
     int iteration;
   };
 
-  virtual ~HyperGraphAction();
+  virtual ~HyperGraphAction() = default;
 
   /**
    * re-implement to carry out an action given the graph
    */
-  virtual bool operator()(
-      const HyperGraph& graph,
-      const std::shared_ptr<Parameters>& parameters = nullptr);
+  virtual bool operator()(const HyperGraph& graph, Parameters& parameters) = 0;
 };
 
 /**
@@ -74,18 +69,19 @@ class G2O_CORE_API HyperGraphAction {
 class G2O_CORE_API HyperGraphElementAction {
  public:
   struct G2O_CORE_API Parameters {
-    virtual ~Parameters();
+    virtual ~Parameters() = default;
   };
   using HyperGraphElementActionPtr = std::shared_ptr<HyperGraphElementAction>;
   //! an action should be instantiated with the typeid.name of the graph element
   //! on which it operates
-  explicit HyperGraphElementAction(std::string typeName = "");
+  explicit HyperGraphElementAction(std::string typeName = "",
+                                   std::string name = "");
 
   //! redefine this to do the action stuff. If successful, returns true.
   virtual bool operator()(HyperGraph::HyperGraphElement& element,
-                          const std::shared_ptr<Parameters>& parameters);
+                          Parameters& parameters) = 0;
 
-  virtual ~HyperGraphElementAction();
+  virtual ~HyperGraphElementAction() = default;
 
   //! returns the typeid name of the action
   [[nodiscard]] const std::string& typeName() const { return typeName_; }
@@ -119,7 +115,7 @@ class G2O_CORE_API HyperGraphElementActionCollection
    * actionMap that was active on element
    */
   bool operator()(HyperGraph::HyperGraphElement& element,
-                  const std::shared_ptr<Parameters>& parameters) override;
+                  Parameters& parameters) override;
   ActionMap& actionMap() { return actionMap_; }
   //! inserts an action in the pool. The action should have the same name of the
   //! container. returns false on failure (the container has a different name
@@ -170,15 +166,6 @@ class G2O_CORE_API HyperGraphActionLibrary {
   static std::unique_ptr<HyperGraphActionLibrary> actionLibInstance_;
 };
 
-/**
- * apply an action to all the elements of the graph.
- */
-void G2O_CORE_API applyAction(
-    HyperGraph& graph, HyperGraphElementAction& action,
-    const std::shared_ptr<HyperGraphElementAction::Parameters>& parameters =
-        nullptr,
-    const std::string& typeName = "");
-
 /**
  * \brief draw actions
  */
@@ -192,28 +179,23 @@ class G2O_CORE_API DrawAction : public HyperGraphElementAction {
   explicit DrawAction(const std::string& typeName_);
 
  protected:
-  virtual bool refreshPropertyPtrs(
-      const std::shared_ptr<HyperGraphElementAction::Parameters>& params);
+  virtual DrawAction::Parameters* refreshPropertyPtrs(
+      HyperGraphElementAction::Parameters& params);
   void initializeDrawActionsCache();
-  void drawCache(
-      const CacheContainer& caches,
-      const std::shared_ptr<HyperGraphElementAction::Parameters>& params);
-  void drawUserData(
-      const HyperGraph::DataContainer::DataVector& data,
-      const std::shared_ptr<HyperGraphElementAction::Parameters>& params);
-  std::shared_ptr<Parameters> previousParams_;
-  std::shared_ptr<BoolProperty> show_;
-  HyperGraphElementAction::HyperGraphElementActionPtr cacheDrawActions_;
+  void drawCache(const CacheContainer& caches,
+                 HyperGraphElementAction::Parameters& params);
+  void drawUserData(const HyperGraph::DataContainer::DataVector& data,
+                    HyperGraphElementAction::Parameters& params);
+  void* previousParams_ = nullptr;
+  std::shared_ptr<BoolProperty> show_ = nullptr;
+  HyperGraphElementAction::HyperGraphElementActionPtr cacheDrawActions_ =
+      nullptr;
 };
 
 template <typename T>
 class RegisterActionProxy {
  public:
   RegisterActionProxy() {
-#ifdef G2O_DEBUG_ACTIONLIB
-    std::cout << __FUNCTION__ << ": Registering action of type "
-              << typeid(T).name() << std::endl;
-#endif
     action_.reset(new T());
     HyperGraphActionLibrary::instance()->registerAction(action_);
   }
diff --git a/g2o/core/optimizable_graph.cpp b/g2o/core/optimizable_graph.cpp
index ffd867b8c..013513d74 100644
--- a/g2o/core/optimizable_graph.cpp
+++ b/g2o/core/optimizable_graph.cpp
@@ -148,10 +148,6 @@ void OptimizableGraph::Vertex::updateCache() {
   }
 }
 
-OptimizableGraph::Edge::Edge() : robustKernel_(nullptr) {}
-
-OptimizableGraph::Edge::~Edge() = default;
-
 bool OptimizableGraph::Edge::setParameterId(int argNum, int paramId) {
   if (static_cast<int>(parameters_.size()) <= argNum) return false;
   if (argNum < 0) return false;
@@ -165,15 +161,10 @@ bool OptimizableGraph::Edge::resolveParameters(const OptimizableGraph& graph) {
   for (decltype(parameters_)::size_type i = 0; i < parameters_.size(); i++) {
     const int index = parameterIds_[i];
     parameters_[i] = graph.parameter(index);
-#ifndef NDEBUG
-    auto& aux = *parameters_[i];
-    if (typeid(aux).name() != parameterTypes_[i]) {
-      G2O_CRITICAL("parameter type mismatch - encountered {}; should be {}",
-                   typeid(aux).name(), parameterTypes_[i]);
-    }
-#endif
     if (!parameters_[i]) {
-      G2O_CRITICAL("_parameters[i] == nullptr");
+      G2O_CRITICAL(
+          "Parameter {} with expected Id {} not contained in the graph", i,
+          index);
       return false;
     }
   }
@@ -189,10 +180,7 @@ bool OptimizableGraph::Edge::resolveCaches() { return true; }
 
 bool OptimizableGraph::Edge::setMeasurementFromState() { return false; }
 
-OptimizableGraph::OptimizableGraph() {
-  nextEdgeId_ = 0;
-  graphActions_.resize(kAtNumElements);
-}
+OptimizableGraph::OptimizableGraph() : graphActions_(kAtNumElements) {}
 
 OptimizableGraph::~OptimizableGraph() {
   clear();
@@ -651,11 +639,10 @@ std::set<int> OptimizableGraph::dimensions() const {
 }
 
 void OptimizableGraph::performActions(int iter, HyperGraphActionSet& actions) {
-  if (!actions.empty()) {
-    auto params = std::make_shared<HyperGraphAction::ParametersIteration>(iter);
-    for (const auto& action : actions) {
-      (*action)(*this, params);
-    }
+  if (actions.empty()) return;
+  HyperGraphAction::ParametersIteration params(iter);
+  for (const auto& action : actions) {
+    (*action)(*this, params);
   }
 }
 
diff --git a/g2o/core/optimizable_graph.h b/g2o/core/optimizable_graph.h
index 5fc24312b..8bf6d9fac 100644
--- a/g2o/core/optimizable_graph.h
+++ b/g2o/core/optimizable_graph.h
@@ -35,7 +35,6 @@
 #include <memory>
 #include <set>
 #include <string>
-#include <typeinfo>
 #include <unordered_map>
 #include <vector>
 
@@ -424,9 +423,6 @@ class G2O_CORE_API OptimizableGraph : public HyperGraph {
     friend class OptimizableGraph;
 
    public:
-    Edge();
-    ~Edge() override;
-
     // indicates if all vertices are fixed
     [[nodiscard]] virtual bool allVerticesFixed() const = 0;
 
@@ -558,20 +554,18 @@ class G2O_CORE_API OptimizableGraph : public HyperGraph {
    protected:
     int dimension_ = -1;
     int level_ = 0;
-    std::shared_ptr<RobustKernel> robustKernel_;
+    std::shared_ptr<RobustKernel> robustKernel_ = nullptr;
     int64_t internalId_ = -1;
 
     void resizeParameters(size_t newSize) {
       parameters_.resize(newSize, nullptr);
       parameterIds_.resize(newSize, -1);
-      parameterTypes_.resize(newSize, typeid(void*).name());
     }
 
     template <typename ParameterType>
     bool installParameter(size_t argNo, int paramId = -1) {
       if (argNo >= parameters_.size()) return false;
       parameterIds_[argNo] = paramId;
-      parameterTypes_[argNo] = typeid(ParameterType).name();
       return true;
     }
 
@@ -583,7 +577,6 @@ class G2O_CORE_API OptimizableGraph : public HyperGraph {
     bool resolveParameters(const OptimizableGraph& graph);
     virtual bool resolveCaches();
 
-    std::vector<std::string> parameterTypes_;
     ParameterVector parameters_;
     std::vector<int> parameterIds_;
   };
@@ -792,7 +785,7 @@ class G2O_CORE_API OptimizableGraph : public HyperGraph {
 
  protected:
   std::unordered_map<std::string, std::string> renamedTypesLookup_;
-  int64_t nextEdgeId_;
+  int64_t nextEdgeId_ = 0;
   std::vector<HyperGraphActionSet> graphActions_;
 
   ParameterContainer parameters_;
diff --git a/g2o/core/sparse_optimizer.cpp b/g2o/core/sparse_optimizer.cpp
index 2e668b4af..9ef05e59c 100644
--- a/g2o/core/sparse_optimizer.cpp
+++ b/g2o/core/sparse_optimizer.cpp
@@ -79,7 +79,8 @@ void SparseOptimizer::computeActiveErrors() {
   // call the callbacks in case there is something registered
   HyperGraphActionSet& actions = graphActions_[kAtComputeactiverror];
   if (!actions.empty()) {
-    for (const auto& action : actions) (*action)(*this);
+    HyperGraphAction::Parameters empty_params;
+    for (const auto& action : actions) (*action)(*this, empty_params);
   }
 
 #ifdef G2O_OPENMP
diff --git a/g2o/core/sparse_optimizer_terminate_action.cpp b/g2o/core/sparse_optimizer_terminate_action.cpp
index d596b2a97..a0df0bd13 100644
--- a/g2o/core/sparse_optimizer_terminate_action.cpp
+++ b/g2o/core/sparse_optimizer_terminate_action.cpp
@@ -44,17 +44,16 @@ void SparseOptimizerTerminateAction::setGainThreshold(double gainThreshold) {
   gainThreshold_ = gainThreshold;
 }
 
-bool SparseOptimizerTerminateAction::operator()(
-    const HyperGraph& graph, const std::shared_ptr<Parameters>& parameters) {
+bool SparseOptimizerTerminateAction::operator()(const HyperGraph& graph,
+                                                Parameters& parameters) {
   assert(dynamic_cast<const SparseOptimizer*>(&graph) &&
          "graph is not a SparseOptimizer");
-  assert(
-      dynamic_cast<HyperGraphAction::ParametersIteration*>(parameters.get()) &&
-      "error casting parameters");
+  assert(dynamic_cast<HyperGraphAction::ParametersIteration*>(&parameters) &&
+         "error casting parameters");
 
   const auto* optimizer = static_cast<const SparseOptimizer*>(&graph);
-  auto* params =
-      static_cast<HyperGraphAction::ParametersIteration*>(parameters.get());
+  const auto* params =
+      static_cast<HyperGraphAction::ParametersIteration*>(&parameters);
 
   const_cast<SparseOptimizer*>(optimizer)->computeActiveErrors();
   if (params->iteration < 0) {
diff --git a/g2o/core/sparse_optimizer_terminate_action.h b/g2o/core/sparse_optimizer_terminate_action.h
index 9d3e5000e..cc0d601bc 100644
--- a/g2o/core/sparse_optimizer_terminate_action.h
+++ b/g2o/core/sparse_optimizer_terminate_action.h
@@ -27,8 +27,6 @@
 #ifndef SPARSE_OPTIMIZER_TERMINATE_ACTION_H
 #define SPARSE_OPTIMIZER_TERMINATE_ACTION_H
 
-#include <memory>
-
 #include "g2o_core_api.h"
 #include "hyper_graph_action.h"
 
@@ -50,9 +48,7 @@ class HyperGraph;
 class G2O_CORE_API SparseOptimizerTerminateAction : public HyperGraphAction {
  public:
   SparseOptimizerTerminateAction();
-  bool operator()(
-      const HyperGraph& graph,
-      const std::shared_ptr<Parameters>& parameters = nullptr) override;
+  bool operator()(const HyperGraph& graph, Parameters& parameters) override;
 
   [[nodiscard]] double gainThreshold() const { return gainThreshold_; }
   void setGainThreshold(double gainThreshold);
diff --git a/g2o/types/data/robot_laser.cpp b/g2o/types/data/robot_laser.cpp
index 3f48bf402..fcff73dd2 100644
--- a/g2o/types/data/robot_laser.cpp
+++ b/g2o/types/data/robot_laser.cpp
@@ -36,6 +36,7 @@
 #include <vector>
 
 #include "g2o/core/eigen_types.h"
+#include "g2o/core/hyper_graph_action.h"
 #include "g2o/stuff/macros.h"
 #include "g2o/types/data/laser_parameters.h"
 #include "g2o/types/data/raw_laser.h"
@@ -120,27 +121,23 @@ RobotLaserDrawAction::RobotLaserDrawAction()
       pointSize_(nullptr),
       maxRange_(nullptr) {}
 
-bool RobotLaserDrawAction::refreshPropertyPtrs(
-    const std::shared_ptr<HyperGraphElementAction::Parameters>& params_) {
-  if (!DrawAction::refreshPropertyPtrs(params_)) return false;
-  if (previousParams_) {
-    beamsDownsampling_ = previousParams_->makeProperty<IntProperty>(
+DrawAction::Parameters* RobotLaserDrawAction::refreshPropertyPtrs(
+    HyperGraphElementAction::Parameters& params_) {
+  DrawAction::Parameters* params = DrawAction::refreshPropertyPtrs(params_);
+  if (params) {
+    beamsDownsampling_ = params->makeProperty<IntProperty>(
         typeName_ + "::BEAMS_DOWNSAMPLING", 1);
-    pointSize_ = previousParams_->makeProperty<FloatProperty>(
-        typeName_ + "::POINT_SIZE", 1.0F);
-    maxRange_ = previousParams_->makeProperty<FloatProperty>(
-        typeName_ + "::MAX_RANGE", -1.);
-  } else {
-    beamsDownsampling_ = nullptr;
-    pointSize_ = nullptr;
-    maxRange_ = nullptr;
+    pointSize_ =
+        params->makeProperty<FloatProperty>(typeName_ + "::POINT_SIZE", 1.0F);
+    maxRange_ =
+        params->makeProperty<FloatProperty>(typeName_ + "::MAX_RANGE", -1.);
   }
-  return true;
+  return params;
 }
 
 bool RobotLaserDrawAction::operator()(
     HyperGraph::HyperGraphElement& element,
-    const std::shared_ptr<HyperGraphElementAction::Parameters>& params_) {
+    HyperGraphElementAction::Parameters& params_) {
   if (typeid(element).name() != typeName_) return false;
 
   refreshPropertyPtrs(params_);
diff --git a/g2o/types/data/robot_laser.h b/g2o/types/data/robot_laser.h
index 010e29967..8048bd6f9 100644
--- a/g2o/types/data/robot_laser.h
+++ b/g2o/types/data/robot_laser.h
@@ -71,13 +71,11 @@ class G2O_TYPES_DATA_API RobotLaserDrawAction : public DrawAction {
  public:
   RobotLaserDrawAction();
   bool operator()(HyperGraph::HyperGraphElement& element,
-                  const std::shared_ptr<HyperGraphElementAction::Parameters>&
-                      params_) override;
+                  HyperGraphElementAction::Parameters& params_) override;
 
  protected:
-  bool refreshPropertyPtrs(
-      const std::shared_ptr<HyperGraphElementAction::Parameters>& params_)
-      override;
+  DrawAction::Parameters* refreshPropertyPtrs(
+      HyperGraphElementAction::Parameters& params_) override;
   std::shared_ptr<IntProperty> beamsDownsampling_;
   std::shared_ptr<FloatProperty> pointSize_;
   std::shared_ptr<FloatProperty> maxRange_;
diff --git a/g2o/types/data/vertex_ellipse.cpp b/g2o/types/data/vertex_ellipse.cpp
index a03eb874e..6d4dd2a86 100644
--- a/g2o/types/data/vertex_ellipse.cpp
+++ b/g2o/types/data/vertex_ellipse.cpp
@@ -26,6 +26,7 @@
 
 #include "vertex_ellipse.h"
 
+#include "g2o/core/hyper_graph_action.h"
 #include "g2o/stuff/misc.h"
 
 #ifdef G2O_HAVE_OPENGL
@@ -102,21 +103,18 @@ bool VertexEllipse::write(std::ostream& os) const {
 VertexEllipseDrawAction::VertexEllipseDrawAction()
     : DrawAction(typeid(VertexEllipse).name()) {}
 
-bool VertexEllipseDrawAction::refreshPropertyPtrs(
-    const std::shared_ptr<HyperGraphElementAction::Parameters>& params_) {
-  if (!DrawAction::refreshPropertyPtrs(params_)) return false;
-  if (previousParams_) {
-    scaleFactor_ =
-        previousParams_->makeProperty<DoubleProperty>(typeName_ + "::", 1);
-  } else {
-    scaleFactor_ = nullptr;
+DrawAction::Parameters* VertexEllipseDrawAction::refreshPropertyPtrs(
+    HyperGraphElementAction::Parameters& params_) {
+  DrawAction::Parameters* params = DrawAction::refreshPropertyPtrs(params_);
+  if (params) {
+    scaleFactor_ = params->makeProperty<DoubleProperty>(typeName_ + "::", 1);
   }
-  return true;
+  return params;
 }
 
 bool VertexEllipseDrawAction::operator()(
     HyperGraph::HyperGraphElement& element,
-    const std::shared_ptr<HyperGraphElementAction::Parameters>& params_) {
+    HyperGraphElementAction::Parameters& params_) {
   if (typeid(element).name() != typeName_) return false;
 
   refreshPropertyPtrs(params_);
diff --git a/g2o/types/data/vertex_ellipse.h b/g2o/types/data/vertex_ellipse.h
index dd82f1a7d..0a6a4e24d 100644
--- a/g2o/types/data/vertex_ellipse.h
+++ b/g2o/types/data/vertex_ellipse.h
@@ -87,13 +87,11 @@ class G2O_TYPES_DATA_API VertexEllipseDrawAction : public DrawAction {
  public:
   VertexEllipseDrawAction();
   bool operator()(HyperGraph::HyperGraphElement& element,
-                  const std::shared_ptr<HyperGraphElementAction::Parameters>&
-                      params_) override;
+                  HyperGraphElementAction::Parameters& params_) override;
 
  protected:
-  bool refreshPropertyPtrs(
-      const std::shared_ptr<HyperGraphElementAction::Parameters>& params_)
-      override;
+  DrawAction::Parameters* refreshPropertyPtrs(
+      HyperGraphElementAction::Parameters& params_) override;
   std::shared_ptr<DoubleProperty> scaleFactor_ = nullptr;
 };
 #endif
diff --git a/g2o/types/data/vertex_tag.cpp b/g2o/types/data/vertex_tag.cpp
index 8345b2a87..41d299c6d 100644
--- a/g2o/types/data/vertex_tag.cpp
+++ b/g2o/types/data/vertex_tag.cpp
@@ -30,6 +30,7 @@
 #include <ostream>
 #include <typeinfo>
 
+#include "g2o/core/hyper_graph_action.h"
 #include "g2o/stuff/macros.h"
 
 #ifdef G2O_HAVE_OPENGL
@@ -64,21 +65,19 @@ bool VertexTag::write(std::ostream& os) const {
 VertexTagDrawAction::VertexTagDrawAction()
     : DrawAction(typeid(VertexTag).name()), textSize_(nullptr) {}
 
-bool VertexTagDrawAction::refreshPropertyPtrs(
-    const std::shared_ptr<HyperGraphElementAction::Parameters>& params_) {
-  if (!DrawAction::refreshPropertyPtrs(params_)) return false;
-  if (previousParams_) {
-    textSize_ = previousParams_->makeProperty<DoubleProperty>(
-        typeName_ + "::TEXT_SIZE", 1);
-  } else {
-    textSize_ = nullptr;
+DrawAction::Parameters* VertexTagDrawAction::refreshPropertyPtrs(
+    HyperGraphElementAction::Parameters& params_) {
+  DrawAction::Parameters* params = DrawAction::refreshPropertyPtrs(params_);
+  if (params) {
+    textSize_ =
+        params->makeProperty<DoubleProperty>(typeName_ + "::TEXT_SIZE", 1);
   }
-  return true;
+  return params;
 }
 
 bool VertexTagDrawAction::operator()(
     HyperGraph::HyperGraphElement& element,
-    const std::shared_ptr<HyperGraphElementAction::Parameters>& params_) {
+    HyperGraphElementAction::Parameters& params_) {
   if (typeid(element).name() != typeName_) return false;
 
   refreshPropertyPtrs(params_);
diff --git a/g2o/types/data/vertex_tag.h b/g2o/types/data/vertex_tag.h
index 01034e086..8a6a42d5e 100644
--- a/g2o/types/data/vertex_tag.h
+++ b/g2o/types/data/vertex_tag.h
@@ -68,13 +68,12 @@ class G2O_TYPES_DATA_API VertexTag : public RobotData {
 class G2O_TYPES_DATA_API VertexTagDrawAction : public DrawAction {
  public:
   VertexTagDrawAction();
-  bool operator()(
-      HyperGraph::HyperGraphElement& element,
-      const std::shared_ptr<HyperGraphElementAction::Parameters>&) override;
+  bool operator()(HyperGraph::HyperGraphElement& element,
+                  HyperGraphElementAction::Parameters&) override;
 
  protected:
-  bool refreshPropertyPtrs(
-      const std::shared_ptr<HyperGraphElementAction::Parameters>&) override;
+  DrawAction::Parameters* refreshPropertyPtrs(
+      HyperGraphElementAction::Parameters&) override;
   std::shared_ptr<DoubleProperty> textSize_;
 };
 #endif
diff --git a/g2o/types/sclam2d/edge_se2_odom_differential_calib.cpp b/g2o/types/sclam2d/edge_se2_odom_differential_calib.cpp
index 556947c1c..d6b311028 100644
--- a/g2o/types/sclam2d/edge_se2_odom_differential_calib.cpp
+++ b/g2o/types/sclam2d/edge_se2_odom_differential_calib.cpp
@@ -62,7 +62,7 @@ EdgeSE2OdomDifferentialCalibDrawAction::EdgeSE2OdomDifferentialCalibDrawAction()
 
 bool EdgeSE2OdomDifferentialCalibDrawAction::operator()(
     HyperGraph::HyperGraphElement& element,
-    const std::shared_ptr<HyperGraphElementAction::Parameters>&) {
+    HyperGraphElementAction::Parameters&) {
   if (typeid(element).name() != typeName_) return false;
   auto* e = static_cast<EdgeSE2OdomDifferentialCalib*>(&element);
   auto fromEdge = e->vertexXn<0>();
diff --git a/g2o/types/sclam2d/edge_se2_odom_differential_calib.h b/g2o/types/sclam2d/edge_se2_odom_differential_calib.h
index bc29628ff..1fba5e5b1 100644
--- a/g2o/types/sclam2d/edge_se2_odom_differential_calib.h
+++ b/g2o/types/sclam2d/edge_se2_odom_differential_calib.h
@@ -27,8 +27,6 @@
 #ifndef G2O_EDGE_SE2_ODOM_CALIB_DIFFERENTIAL_H
 #define G2O_EDGE_SE2_ODOM_CALIB_DIFFERENTIAL_H
 
-#include <memory>
-
 #include "g2o/config.h"
 #include "g2o/core/base_fixed_sized_edge.h"
 #include "g2o/core/hyper_graph.h"
@@ -53,8 +51,7 @@ class G2O_TYPES_SCLAM2D_API EdgeSE2OdomDifferentialCalibDrawAction
  public:
   EdgeSE2OdomDifferentialCalibDrawAction();
   bool operator()(HyperGraph::HyperGraphElement& element,
-                  const std::shared_ptr<HyperGraphElementAction::Parameters>&
-                      params_) override;
+                  HyperGraphElementAction::Parameters& params_) override;
 };
 #endif
 
diff --git a/g2o/types/sclam2d/edge_se2_sensor_calib.cpp b/g2o/types/sclam2d/edge_se2_sensor_calib.cpp
index a00de7b2c..84957ab30 100644
--- a/g2o/types/sclam2d/edge_se2_sensor_calib.cpp
+++ b/g2o/types/sclam2d/edge_se2_sensor_calib.cpp
@@ -83,7 +83,7 @@ EdgeSE2SensorCalibDrawAction::EdgeSE2SensorCalibDrawAction()
 
 bool EdgeSE2SensorCalibDrawAction::operator()(
     HyperGraph::HyperGraphElement& element,
-    const std::shared_ptr<HyperGraphElementAction::Parameters>&) {
+    HyperGraphElementAction::Parameters&) {
   if (typeid(element).name() != typeName_) return false;
   auto* e = static_cast<EdgeSE2SensorCalib*>(&element);
   auto fromEdge = e->vertexXn<0>();
diff --git a/g2o/types/sclam2d/edge_se2_sensor_calib.h b/g2o/types/sclam2d/edge_se2_sensor_calib.h
index 4e44f35c6..bf540a6bb 100644
--- a/g2o/types/sclam2d/edge_se2_sensor_calib.h
+++ b/g2o/types/sclam2d/edge_se2_sensor_calib.h
@@ -27,8 +27,6 @@
 #ifndef G2O_EDGE_SE2_SENSOR_CALIB_H
 #define G2O_EDGE_SE2_SENSOR_CALIB_H
 
-#include <memory>
-
 #include "g2o/config.h"
 #include "g2o/core/base_fixed_sized_edge.h"
 #include "g2o/core/hyper_graph.h"
@@ -64,8 +62,7 @@ class EdgeSE2SensorCalibDrawAction : public DrawAction {
  public:
   EdgeSE2SensorCalibDrawAction();
   bool operator()(HyperGraph::HyperGraphElement& element,
-                  const std::shared_ptr<HyperGraphElementAction::Parameters>&
-                      params_) override;
+                  HyperGraphElementAction::Parameters& params_) override;
 };
 #endif
 
diff --git a/g2o/types/slam2d/edge_se2.cpp b/g2o/types/slam2d/edge_se2.cpp
index e0747a23c..99aa27b28 100644
--- a/g2o/types/slam2d/edge_se2.cpp
+++ b/g2o/types/slam2d/edge_se2.cpp
@@ -83,24 +83,21 @@ EdgeSE2DrawAction::EdgeSE2DrawAction()
       triangleX_(nullptr),
       triangleY_(nullptr) {}
 
-bool EdgeSE2DrawAction::refreshPropertyPtrs(
-    const std::shared_ptr<HyperGraphElementAction::Parameters>& params_) {
-  if (!DrawAction::refreshPropertyPtrs(params_)) return false;
-  if (previousParams_) {
-    triangleX_ = previousParams_->makeProperty<FloatProperty>(
+DrawAction::Parameters* EdgeSE2DrawAction::refreshPropertyPtrs(
+    HyperGraphElementAction::Parameters& params_) {
+  DrawAction::Parameters* params = DrawAction::refreshPropertyPtrs(params_);
+  if (params) {
+    triangleX_ = params->makeProperty<FloatProperty>(
         typeName_ + "::GHOST_TRIANGLE_X", .2F);
-    triangleY_ = previousParams_->makeProperty<FloatProperty>(
+    triangleY_ = params->makeProperty<FloatProperty>(
         typeName_ + "::GHOST_TRIANGLE_Y", .05F);
-  } else {
-    triangleX_ = nullptr;
-    triangleY_ = nullptr;
   }
-  return true;
+  return params;
 }
 
 bool EdgeSE2DrawAction::operator()(
     HyperGraph::HyperGraphElement& element,
-    const std::shared_ptr<HyperGraphElementAction::Parameters>& params_) {
+    HyperGraphElementAction::Parameters& params_) {
   if (typeid(element).name() != typeName_) return false;
 
   refreshPropertyPtrs(params_);
diff --git a/g2o/types/slam2d/edge_se2.h b/g2o/types/slam2d/edge_se2.h
index 0529dbf4e..2a646f5ee 100644
--- a/g2o/types/slam2d/edge_se2.h
+++ b/g2o/types/slam2d/edge_se2.h
@@ -87,13 +87,11 @@ class G2O_TYPES_SLAM2D_API EdgeSE2DrawAction : public DrawAction {
  public:
   EdgeSE2DrawAction();
   bool operator()(HyperGraph::HyperGraphElement& element,
-                  const std::shared_ptr<HyperGraphElementAction::Parameters>&
-                      params_) override;
+                  HyperGraphElementAction::Parameters& params) override;
 
  protected:
-  bool refreshPropertyPtrs(
-      const std::shared_ptr<HyperGraphElementAction::Parameters>& params_)
-      override;
+  DrawAction::Parameters* refreshPropertyPtrs(
+      HyperGraphElementAction::Parameters& params_) override;
   std::shared_ptr<FloatProperty> triangleX_, triangleY_;
 };
 #endif
diff --git a/g2o/types/slam2d/edge_se2_pointxy.cpp b/g2o/types/slam2d/edge_se2_pointxy.cpp
index 267b0d575..09d0f34f3 100644
--- a/g2o/types/slam2d/edge_se2_pointxy.cpp
+++ b/g2o/types/slam2d/edge_se2_pointxy.cpp
@@ -88,7 +88,7 @@ EdgeSE2PointXYDrawAction::EdgeSE2PointXYDrawAction()
 
 bool EdgeSE2PointXYDrawAction::operator()(
     HyperGraph::HyperGraphElement& element,
-    const std::shared_ptr<HyperGraphElementAction::Parameters>& params_) {
+    HyperGraphElementAction::Parameters& params_) {
   if (typeid(element).name() != typeName_) return false;
 
   refreshPropertyPtrs(params_);
diff --git a/g2o/types/slam2d/edge_se2_pointxy.h b/g2o/types/slam2d/edge_se2_pointxy.h
index 1ae972e18..db88e2c71 100644
--- a/g2o/types/slam2d/edge_se2_pointxy.h
+++ b/g2o/types/slam2d/edge_se2_pointxy.h
@@ -28,7 +28,6 @@
 #define G2O_EDGE_SE2_POINT_XY_H
 
 #include <Eigen/Core>
-#include <memory>
 
 #include "g2o/config.h"
 #include "g2o/core/base_binary_edge.h"
@@ -78,8 +77,7 @@ class G2O_TYPES_SLAM2D_API EdgeSE2PointXYDrawAction : public DrawAction {
  public:
   EdgeSE2PointXYDrawAction();
   bool operator()(HyperGraph::HyperGraphElement& element,
-                  const std::shared_ptr<HyperGraphElementAction::Parameters>&
-                      params_) override;
+                  HyperGraphElementAction::Parameters& params_) override;
 };
 #endif
 
diff --git a/g2o/types/slam2d/edge_se2_pointxy_bearing.cpp b/g2o/types/slam2d/edge_se2_pointxy_bearing.cpp
index 3498d6f5b..a58cd0621 100644
--- a/g2o/types/slam2d/edge_se2_pointxy_bearing.cpp
+++ b/g2o/types/slam2d/edge_se2_pointxy_bearing.cpp
@@ -62,7 +62,7 @@ EdgeSE2PointXYBearingDrawAction::EdgeSE2PointXYBearingDrawAction()
 
 bool EdgeSE2PointXYBearingDrawAction::operator()(
     HyperGraph::HyperGraphElement& element,
-    const std::shared_ptr<HyperGraphElementAction::Parameters>& params_) {
+    HyperGraphElementAction::Parameters& params_) {
   if (typeid(element).name() != typeName_) return false;
 
   refreshPropertyPtrs(params_);
diff --git a/g2o/types/slam2d/edge_se2_pointxy_bearing.h b/g2o/types/slam2d/edge_se2_pointxy_bearing.h
index aad817809..6077a5d31 100644
--- a/g2o/types/slam2d/edge_se2_pointxy_bearing.h
+++ b/g2o/types/slam2d/edge_se2_pointxy_bearing.h
@@ -29,7 +29,6 @@
 
 #include <Eigen/Core>
 #include <cmath>
-#include <memory>
 
 #include "g2o/config.h"
 #include "g2o/core/base_binary_edge.h"
@@ -78,8 +77,7 @@ class G2O_TYPES_SLAM2D_API EdgeSE2PointXYBearingDrawAction : public DrawAction {
  public:
   EdgeSE2PointXYBearingDrawAction();
   bool operator()(HyperGraph::HyperGraphElement& element,
-                  const std::shared_ptr<HyperGraphElementAction::Parameters>&
-                      params_) override;
+                  HyperGraphElementAction::Parameters& params_) override;
 };
 #endif
 
diff --git a/g2o/types/slam2d/vertex_point_xy.cpp b/g2o/types/slam2d/vertex_point_xy.cpp
index 3cd8d7afc..55c5f9f58 100644
--- a/g2o/types/slam2d/vertex_point_xy.cpp
+++ b/g2o/types/slam2d/vertex_point_xy.cpp
@@ -26,6 +26,8 @@
 
 #include "vertex_point_xy.h"
 
+#include "g2o/core/hyper_graph_action.h"
+
 #ifdef G2O_HAVE_OPENGL
 #include "g2o/stuff/opengl_primitives.h"
 #include "g2o/stuff/opengl_wrapper.h"
@@ -42,21 +44,19 @@ VertexPointXY::VertexPointXY() { estimate_.setZero(); }
 VertexPointXYDrawAction::VertexPointXYDrawAction()
     : DrawAction(typeid(VertexPointXY).name()), pointSize_(nullptr) {}
 
-bool VertexPointXYDrawAction::refreshPropertyPtrs(
-    const std::shared_ptr<HyperGraphElementAction::Parameters>& params) {
-  if (!DrawAction::refreshPropertyPtrs(params)) return false;
-  if (previousParams_) {
-    pointSize_ = previousParams_->makeProperty<FloatProperty>(
-        typeName_ + "::POINT_SIZE", 1.);
-  } else {
-    pointSize_ = nullptr;
+DrawAction::Parameters* VertexPointXYDrawAction::refreshPropertyPtrs(
+    HyperGraphElementAction::Parameters& p) {
+  DrawAction::Parameters* params = DrawAction::refreshPropertyPtrs(p);
+  if (params) {
+    pointSize_ =
+        params->makeProperty<FloatProperty>(typeName_ + "::POINT_SIZE", 1.);
   }
-  return true;
+  return params;
 }
 
 bool VertexPointXYDrawAction::operator()(
     HyperGraph::HyperGraphElement& element,
-    const std::shared_ptr<HyperGraphElementAction::Parameters>& params) {
+    HyperGraphElementAction::Parameters& params) {
   if (typeid(element).name() != typeName_) return false;
   initializeDrawActionsCache();
   refreshPropertyPtrs(params);
diff --git a/g2o/types/slam2d/vertex_point_xy.h b/g2o/types/slam2d/vertex_point_xy.h
index a20e80018..8b90bdfb6 100644
--- a/g2o/types/slam2d/vertex_point_xy.h
+++ b/g2o/types/slam2d/vertex_point_xy.h
@@ -54,14 +54,12 @@ class G2O_TYPES_SLAM2D_API VertexPointXYDrawAction : public DrawAction {
  public:
   VertexPointXYDrawAction();
   bool operator()(HyperGraph::HyperGraphElement& element,
-                  const std::shared_ptr<HyperGraphElementAction::Parameters>&
-                      params) override;
+                  HyperGraphElementAction::Parameters& params) override;
 
  protected:
   std::shared_ptr<FloatProperty> pointSize_;
-  bool refreshPropertyPtrs(
-      const std::shared_ptr<HyperGraphElementAction::Parameters>& params)
-      override;
+  DrawAction::Parameters* refreshPropertyPtrs(
+      HyperGraphElementAction::Parameters& params) override;
 };
 #endif
 
diff --git a/g2o/types/slam2d/vertex_se2.cpp b/g2o/types/slam2d/vertex_se2.cpp
index 0d3459465..a7d6a4243 100644
--- a/g2o/types/slam2d/vertex_se2.cpp
+++ b/g2o/types/slam2d/vertex_se2.cpp
@@ -54,24 +54,21 @@ VertexSE2DrawAction::VertexSE2DrawAction()
       triangleX_(nullptr),
       triangleY_(nullptr) {}
 
-bool VertexSE2DrawAction::refreshPropertyPtrs(
-    const std::shared_ptr<HyperGraphElementAction::Parameters>& parameters) {
-  if (!DrawAction::refreshPropertyPtrs(parameters)) return false;
-  if (previousParams_) {
-    triangleX_ = previousParams_->makeProperty<FloatProperty>(
-        typeName_ + "::TRIANGLE_X", .2F);
-    triangleY_ = previousParams_->makeProperty<FloatProperty>(
-        typeName_ + "::TRIANGLE_Y", .05F);
-  } else {
-    triangleX_ = nullptr;
-    triangleY_ = nullptr;
+DrawAction::Parameters* VertexSE2DrawAction::refreshPropertyPtrs(
+    HyperGraphElementAction::Parameters& parameters) {
+  DrawAction::Parameters* params = DrawAction::refreshPropertyPtrs(parameters);
+  if (params) {
+    triangleX_ =
+        params->makeProperty<FloatProperty>(typeName_ + "::TRIANGLE_X", .2F);
+    triangleY_ =
+        params->makeProperty<FloatProperty>(typeName_ + "::TRIANGLE_Y", .05F);
   }
-  return true;
+  return params;
 }
 
 bool VertexSE2DrawAction::operator()(
     HyperGraph::HyperGraphElement& element,
-    const std::shared_ptr<HyperGraphElementAction::Parameters>& parameters) {
+    HyperGraphElementAction::Parameters& parameters) {
   if (typeid(element).name() != typeName_) return false;
   initializeDrawActionsCache();
   refreshPropertyPtrs(parameters);
diff --git a/g2o/types/slam2d/vertex_se2.h b/g2o/types/slam2d/vertex_se2.h
index 0d06ec0fd..bbecd70ec 100644
--- a/g2o/types/slam2d/vertex_se2.h
+++ b/g2o/types/slam2d/vertex_se2.h
@@ -55,14 +55,12 @@ class G2O_TYPES_SLAM2D_API VertexSE2DrawAction : public DrawAction {
  public:
   VertexSE2DrawAction();
   bool operator()(HyperGraph::HyperGraphElement& element,
-                  const std::shared_ptr<HyperGraphElementAction::Parameters>&
-                      parameters) override;
+                  HyperGraphElementAction::Parameters& parameters) override;
 
  protected:
   HyperGraphElementAction* drawActions_ = nullptr;
-  bool refreshPropertyPtrs(
-      const std::shared_ptr<HyperGraphElementAction::Parameters>& parameters)
-      override;
+  DrawAction::Parameters* refreshPropertyPtrs(
+      HyperGraphElementAction::Parameters& parameters) override;
   std::shared_ptr<FloatProperty> triangleX_, triangleY_;
 };
 #endif
diff --git a/g2o/types/slam2d_addons/vertex_segment2d.cpp b/g2o/types/slam2d_addons/vertex_segment2d.cpp
index f3e4314f9..ab609a33a 100644
--- a/g2o/types/slam2d_addons/vertex_segment2d.cpp
+++ b/g2o/types/slam2d_addons/vertex_segment2d.cpp
@@ -26,6 +26,8 @@
 
 #include "vertex_segment2d.h"
 
+#include "g2o/core/hyper_graph_action.h"
+
 #ifdef G2O_HAVE_OPENGL
 #include "g2o/stuff/opengl_wrapper.h"
 #endif
@@ -41,21 +43,19 @@ VertexSegment2D::VertexSegment2D() { estimate_.setZero(); }
 VertexSegment2DDrawAction::VertexSegment2DDrawAction()
     : DrawAction(typeid(VertexSegment2D).name()), pointSize_(nullptr) {}
 
-bool VertexSegment2DDrawAction::refreshPropertyPtrs(
-    const std::shared_ptr<HyperGraphElementAction::Parameters>& params_) {
-  if (!DrawAction::refreshPropertyPtrs(params_)) return false;
-  if (previousParams_) {
-    pointSize_ = previousParams_->makeProperty<FloatProperty>(
-        typeName_ + "::POINT_SIZE", 1.);
-  } else {
-    pointSize_ = nullptr;
+DrawAction::Parameters* VertexSegment2DDrawAction::refreshPropertyPtrs(
+    HyperGraphElementAction::Parameters& params_) {
+  DrawAction::Parameters* params = DrawAction::refreshPropertyPtrs(params_);
+  if (params) {
+    pointSize_ =
+        params->makeProperty<FloatProperty>(typeName_ + "::POINT_SIZE", 1.);
   }
-  return true;
+  return params;
 }
 
 bool VertexSegment2DDrawAction::operator()(
     HyperGraph::HyperGraphElement& element,
-    const std::shared_ptr<HyperGraphElementAction::Parameters>& params_) {
+    HyperGraphElementAction::Parameters& params_) {
   if (typeid(element).name() != typeName_) return false;
 
   refreshPropertyPtrs(params_);
diff --git a/g2o/types/slam2d_addons/vertex_segment2d.h b/g2o/types/slam2d_addons/vertex_segment2d.h
index 68a4f07db..346ed730a 100644
--- a/g2o/types/slam2d_addons/vertex_segment2d.h
+++ b/g2o/types/slam2d_addons/vertex_segment2d.h
@@ -71,14 +71,12 @@ class G2O_TYPES_SLAM2D_ADDONS_API VertexSegment2DDrawAction
  public:
   VertexSegment2DDrawAction();
   bool operator()(HyperGraph::HyperGraphElement& element,
-                  const std::shared_ptr<HyperGraphElementAction::Parameters>&
-                      params_) override;
+                  HyperGraphElementAction::Parameters& params_) override;
 
  protected:
   std::shared_ptr<FloatProperty> pointSize_;
-  bool refreshPropertyPtrs(
-      const std::shared_ptr<HyperGraphElementAction::Parameters>& params_)
-      override;
+  DrawAction::Parameters* refreshPropertyPtrs(
+      HyperGraphElementAction::Parameters& params_) override;
 };
 #endif
 
diff --git a/g2o/types/slam3d/edge_se3.cpp b/g2o/types/slam3d/edge_se3.cpp
index 9df189c21..78bbe410e 100644
--- a/g2o/types/slam3d/edge_se3.cpp
+++ b/g2o/types/slam3d/edge_se3.cpp
@@ -86,7 +86,7 @@ EdgeSE3DrawAction::EdgeSE3DrawAction() : DrawAction(typeid(EdgeSE3).name()) {}
 
 bool EdgeSE3DrawAction::operator()(
     HyperGraph::HyperGraphElement& element,
-    const std::shared_ptr<HyperGraphElementAction::Parameters>& params_) {
+    HyperGraphElementAction::Parameters& params_) {
   if (typeid(element).name() != typeName_) return false;
   refreshPropertyPtrs(params_);
   if (!previousParams_) return true;
diff --git a/g2o/types/slam3d/edge_se3.h b/g2o/types/slam3d/edge_se3.h
index cc1f83e55..fafef8bd1 100644
--- a/g2o/types/slam3d/edge_se3.h
+++ b/g2o/types/slam3d/edge_se3.h
@@ -28,7 +28,6 @@
 #define G2O_EDGE_SE3_H_
 
 #include <Eigen/Geometry>
-#include <memory>
 
 #include "g2o/config.h"
 #include "g2o/core/base_binary_edge.h"
@@ -85,8 +84,7 @@ class G2O_TYPES_SLAM3D_API EdgeSE3DrawAction : public DrawAction {
  public:
   EdgeSE3DrawAction();
   bool operator()(HyperGraph::HyperGraphElement& element,
-                  const std::shared_ptr<HyperGraphElementAction::Parameters>&
-                      params_) override;
+                  HyperGraphElementAction::Parameters& params_) override;
 };
 #endif
 
diff --git a/g2o/types/slam3d/edge_se3_pointxyz.cpp b/g2o/types/slam3d/edge_se3_pointxyz.cpp
index db98233e9..4107630cf 100644
--- a/g2o/types/slam3d/edge_se3_pointxyz.cpp
+++ b/g2o/types/slam3d/edge_se3_pointxyz.cpp
@@ -134,7 +134,7 @@ EdgeSE3PointXYZDrawAction::EdgeSE3PointXYZDrawAction()
 
 bool EdgeSE3PointXYZDrawAction::operator()(
     HyperGraph::HyperGraphElement& element,
-    const std::shared_ptr<HyperGraphElementAction::Parameters>& params_) {
+    HyperGraphElementAction::Parameters& params_) {
   if (typeid(element).name() != typeName_) return false;
   refreshPropertyPtrs(params_);
   if (!previousParams_) return true;
diff --git a/g2o/types/slam3d/edge_se3_pointxyz.h b/g2o/types/slam3d/edge_se3_pointxyz.h
index f9d99be6d..13799660f 100644
--- a/g2o/types/slam3d/edge_se3_pointxyz.h
+++ b/g2o/types/slam3d/edge_se3_pointxyz.h
@@ -81,8 +81,7 @@ class EdgeSE3PointXYZDrawAction : public DrawAction {
  public:
   EdgeSE3PointXYZDrawAction();
   bool operator()(HyperGraph::HyperGraphElement& element,
-                  const std::shared_ptr<HyperGraphElementAction::Parameters>&
-                      params_) override;
+                  HyperGraphElementAction::Parameters& params_) override;
 };
 #endif
 
diff --git a/g2o/types/slam3d/edge_se3_pointxyz_disparity.cpp b/g2o/types/slam3d/edge_se3_pointxyz_disparity.cpp
index 9a405ad6c..fc2358241 100644
--- a/g2o/types/slam3d/edge_se3_pointxyz_disparity.cpp
+++ b/g2o/types/slam3d/edge_se3_pointxyz_disparity.cpp
@@ -162,7 +162,7 @@ EdgeProjectDisparityDrawAction::EdgeProjectDisparityDrawAction()
 
 bool EdgeProjectDisparityDrawAction::operator()(
     HyperGraph::HyperGraphElement& element,
-    const std::shared_ptr<HyperGraphElementAction::Parameters>& params_) {
+    HyperGraphElementAction::Parameters& params_) {
   if (typeid(element).name() != typeName_) return false;
   refreshPropertyPtrs(params_);
   if (!previousParams_) return true;
diff --git a/g2o/types/slam3d/edge_se3_pointxyz_disparity.h b/g2o/types/slam3d/edge_se3_pointxyz_disparity.h
index b11f29b66..1675e9cf5 100644
--- a/g2o/types/slam3d/edge_se3_pointxyz_disparity.h
+++ b/g2o/types/slam3d/edge_se3_pointxyz_disparity.h
@@ -86,8 +86,7 @@ class G2O_TYPES_SLAM3D_API EdgeProjectDisparityDrawAction : public DrawAction {
  public:
   EdgeProjectDisparityDrawAction();
   bool operator()(HyperGraph::HyperGraphElement& element,
-                  const std::shared_ptr<HyperGraphElementAction::Parameters>&
-                      params_) override;
+                  HyperGraphElementAction::Parameters& params_) override;
 };
 #endif
 
diff --git a/g2o/types/slam3d/parameter_camera.cpp b/g2o/types/slam3d/parameter_camera.cpp
index fd5b57458..ca03fbeec 100644
--- a/g2o/types/slam3d/parameter_camera.cpp
+++ b/g2o/types/slam3d/parameter_camera.cpp
@@ -34,6 +34,7 @@
 #include <string>
 #include <typeinfo>
 
+#include "g2o/core/hyper_graph_action.h"
 #include "g2o/types/slam3d/vertex_se3.h"
 
 #ifdef G2O_HAVE_OPENGL
@@ -65,25 +66,21 @@ void CacheCamera::updateImpl() {
 CacheCameraDrawAction::CacheCameraDrawAction()
     : DrawAction(typeid(CacheCamera).name()) {}
 
-bool CacheCameraDrawAction::refreshPropertyPtrs(
-    const std::shared_ptr<HyperGraphElementAction::Parameters>& params_) {
-  if (!DrawAction::refreshPropertyPtrs(params_)) return false;
-  if (previousParams_) {
-    cameraZ_ = previousParams_->makeProperty<FloatProperty>(
-        typeName_ + "::CAMERA_Z", .05F);
-    cameraSide_ = previousParams_->makeProperty<FloatProperty>(
-        typeName_ + "::CAMERA_SIDE", .05F);
-
-  } else {
-    cameraZ_ = nullptr;
-    cameraSide_ = nullptr;
+DrawAction::Parameters* CacheCameraDrawAction::refreshPropertyPtrs(
+    HyperGraphElementAction::Parameters& params_) {
+  DrawAction::Parameters* params = DrawAction::refreshPropertyPtrs(params_);
+  if (params) {
+    cameraZ_ =
+        params->makeProperty<FloatProperty>(typeName_ + "::CAMERA_Z", .05F);
+    cameraSide_ =
+        params->makeProperty<FloatProperty>(typeName_ + "::CAMERA_SIDE", .05F);
   }
-  return true;
+  return params;
 }
 
 bool CacheCameraDrawAction::operator()(
     HyperGraph::HyperGraphElement& element,
-    const std::shared_ptr<HyperGraphElementAction::Parameters>& params) {
+    HyperGraphElementAction::Parameters& params) {
   if (typeid(element).name() != typeName_) return false;
   auto* that = static_cast<CacheCamera*>(&element);
   refreshPropertyPtrs(params);
diff --git a/g2o/types/slam3d/parameter_camera.h b/g2o/types/slam3d/parameter_camera.h
index 9735b6735..b50720c6b 100644
--- a/g2o/types/slam3d/parameter_camera.h
+++ b/g2o/types/slam3d/parameter_camera.h
@@ -171,13 +171,11 @@ class G2O_TYPES_SLAM3D_API CacheCameraDrawAction : public DrawAction {
  public:
   CacheCameraDrawAction();
   bool operator()(HyperGraph::HyperGraphElement& element,
-                  const std::shared_ptr<HyperGraphElementAction::Parameters>&
-                      params_) override;
+                  HyperGraphElementAction::Parameters& params_) override;
 
  protected:
-  bool refreshPropertyPtrs(
-      const std::shared_ptr<HyperGraphElementAction::Parameters>& params_)
-      override;
+  DrawAction::Parameters* refreshPropertyPtrs(
+      HyperGraphElementAction::Parameters& params_) override;
   std::shared_ptr<FloatProperty> cameraZ_, cameraSide_;
 };
 #endif
diff --git a/g2o/types/slam3d/parameter_se3_offset.cpp b/g2o/types/slam3d/parameter_se3_offset.cpp
index a7b156a93..c1f4bc02f 100644
--- a/g2o/types/slam3d/parameter_se3_offset.cpp
+++ b/g2o/types/slam3d/parameter_se3_offset.cpp
@@ -31,6 +31,7 @@
 #include <typeinfo>
 
 #include "g2o/core/eigen_types.h"
+#include "g2o/core/hyper_graph_action.h"
 #include "vertex_se3.h"
 
 #ifdef G2O_HAVE_OPENGL
@@ -61,21 +62,19 @@ void CacheSE3Offset::updateImpl() {
 CacheSE3OffsetDrawAction::CacheSE3OffsetDrawAction()
     : DrawAction(typeid(CacheSE3Offset).name()) {}
 
-bool CacheSE3OffsetDrawAction::refreshPropertyPtrs(
-    const std::shared_ptr<HyperGraphElementAction::Parameters>& params_) {
-  if (!DrawAction::refreshPropertyPtrs(params_)) return false;
+DrawAction::Parameters* CacheSE3OffsetDrawAction::refreshPropertyPtrs(
+    HyperGraphElementAction::Parameters& params_) {
+  DrawAction::Parameters* params = DrawAction::refreshPropertyPtrs(params_);
   if (previousParams_) {
-    cubeSide_ = previousParams_->makeProperty<FloatProperty>(
-        typeName_ + "::CUBE_SIDE", .05F);
-  } else {
-    cubeSide_ = nullptr;
+    cubeSide_ =
+        params->makeProperty<FloatProperty>(typeName_ + "::CUBE_SIDE", .05F);
   }
-  return true;
+  return params;
 }
 
 bool CacheSE3OffsetDrawAction::operator()(
     HyperGraph::HyperGraphElement& element,
-    const std::shared_ptr<HyperGraphElementAction::Parameters>& params_) {
+    HyperGraphElementAction::Parameters& params_) {
   if (typeid(element).name() != typeName_) return false;
   auto* that = static_cast<CacheSE3Offset*>(&element);
   refreshPropertyPtrs(params_);
diff --git a/g2o/types/slam3d/parameter_se3_offset.h b/g2o/types/slam3d/parameter_se3_offset.h
index f569d4087..e1c2f2743 100644
--- a/g2o/types/slam3d/parameter_se3_offset.h
+++ b/g2o/types/slam3d/parameter_se3_offset.h
@@ -93,13 +93,11 @@ class G2O_TYPES_SLAM3D_API CacheSE3OffsetDrawAction : public DrawAction {
  public:
   CacheSE3OffsetDrawAction();
   bool operator()(HyperGraph::HyperGraphElement& element,
-                  const std::shared_ptr<HyperGraphElementAction::Parameters>&
-                      params_) override;
+                  HyperGraphElementAction::Parameters& params_) override;
 
  protected:
-  bool refreshPropertyPtrs(
-      const std::shared_ptr<HyperGraphElementAction::Parameters>& params_)
-      override;
+  DrawAction::Parameters* refreshPropertyPtrs(
+      HyperGraphElementAction::Parameters& params_) override;
   std::shared_ptr<FloatProperty> cubeSide_;
 };
 #endif
diff --git a/g2o/types/slam3d/vertex_pointxyz.cpp b/g2o/types/slam3d/vertex_pointxyz.cpp
index b99f162f4..eb76a1783 100644
--- a/g2o/types/slam3d/vertex_pointxyz.cpp
+++ b/g2o/types/slam3d/vertex_pointxyz.cpp
@@ -39,21 +39,19 @@ namespace g2o {
 VertexPointXYZDrawAction::VertexPointXYZDrawAction()
     : DrawAction(typeid(VertexPointXYZ).name()), pointSize_(nullptr) {}
 
-bool VertexPointXYZDrawAction::refreshPropertyPtrs(
-    const std::shared_ptr<HyperGraphElementAction::Parameters>& params_) {
-  if (!DrawAction::refreshPropertyPtrs(params_)) return false;
-  if (previousParams_) {
-    pointSize_ = previousParams_->makeProperty<FloatProperty>(
-        typeName_ + "::POINT_SIZE", 1.);
-  } else {
-    pointSize_ = nullptr;
+DrawAction::Parameters* VertexPointXYZDrawAction::refreshPropertyPtrs(
+    HyperGraphElementAction::Parameters& params_) {
+  DrawAction::Parameters* params = DrawAction::refreshPropertyPtrs(params_);
+  if (params) {
+    pointSize_ =
+        params->makeProperty<FloatProperty>(typeName_ + "::POINT_SIZE", 1.);
   }
-  return true;
+  return params;
 }
 
 bool VertexPointXYZDrawAction::operator()(
     HyperGraph::HyperGraphElement& element,
-    const std::shared_ptr<HyperGraphElementAction::Parameters>& params) {
+    HyperGraphElementAction::Parameters& params) {
   if (typeid(element).name() != typeName_) return false;
   initializeDrawActionsCache();
   refreshPropertyPtrs(params);
diff --git a/g2o/types/slam3d/vertex_pointxyz.h b/g2o/types/slam3d/vertex_pointxyz.h
index a5a8738f6..d82d92417 100644
--- a/g2o/types/slam3d/vertex_pointxyz.h
+++ b/g2o/types/slam3d/vertex_pointxyz.h
@@ -58,14 +58,12 @@ class VertexPointXYZDrawAction : public DrawAction {
  public:
   VertexPointXYZDrawAction();
   bool operator()(HyperGraph::HyperGraphElement& element,
-                  const std::shared_ptr<HyperGraphElementAction::Parameters>&
-                      params_) override;
+                  HyperGraphElementAction::Parameters& params_) override;
 
  protected:
   std::shared_ptr<FloatProperty> pointSize_;
-  bool refreshPropertyPtrs(
-      const std::shared_ptr<HyperGraphElementAction::Parameters>& params_)
-      override;
+  DrawAction::Parameters* refreshPropertyPtrs(
+      HyperGraphElementAction::Parameters& params_) override;
 };
 #endif
 
diff --git a/g2o/types/slam3d/vertex_se3.cpp b/g2o/types/slam3d/vertex_se3.cpp
index 343a278ca..d2e7076a0 100644
--- a/g2o/types/slam3d/vertex_se3.cpp
+++ b/g2o/types/slam3d/vertex_se3.cpp
@@ -30,6 +30,7 @@
 #include <Eigen/Geometry>
 #include <string>
 
+#include "g2o/core/hyper_graph_action.h"
 #include "g2o/types/slam3d/isometry3d_mappings.h"
 #ifdef G2O_HAVE_OPENGL
 #include "g2o/stuff/opengl_primitives.h"
@@ -82,24 +83,21 @@ VertexSE3DrawAction::VertexSE3DrawAction()
   cacheDrawActions_ = nullptr;
 }
 
-bool VertexSE3DrawAction::refreshPropertyPtrs(
-    const std::shared_ptr<HyperGraphElementAction::Parameters>& params_) {
-  if (!DrawAction::refreshPropertyPtrs(params_)) return false;
-  if (previousParams_) {
-    triangleX_ = previousParams_->makeProperty<FloatProperty>(
-        typeName_ + "::TRIANGLE_X", .2F);
-    triangleY_ = previousParams_->makeProperty<FloatProperty>(
-        typeName_ + "::TRIANGLE_Y", .05F);
-  } else {
-    triangleX_ = nullptr;
-    triangleY_ = nullptr;
+DrawAction::Parameters* VertexSE3DrawAction::refreshPropertyPtrs(
+    HyperGraphElementAction::Parameters& params_) {
+  DrawAction::Parameters* params = DrawAction::refreshPropertyPtrs(params_);
+  if (params) {
+    triangleX_ =
+        params->makeProperty<FloatProperty>(typeName_ + "::TRIANGLE_X", .2F);
+    triangleY_ =
+        params->makeProperty<FloatProperty>(typeName_ + "::TRIANGLE_Y", .05F);
   }
-  return true;
+  return params;
 }
 
 bool VertexSE3DrawAction::operator()(
     HyperGraph::HyperGraphElement& element,
-    const std::shared_ptr<HyperGraphElementAction::Parameters>& params_) {
+    HyperGraphElementAction::Parameters& params_) {
   if (typeid(element).name() != typeName_) return false;
   initializeDrawActionsCache();
   refreshPropertyPtrs(params_);
diff --git a/g2o/types/slam3d/vertex_se3.h b/g2o/types/slam3d/vertex_se3.h
index c9230ecfd..1fe893617 100644
--- a/g2o/types/slam3d/vertex_se3.h
+++ b/g2o/types/slam3d/vertex_se3.h
@@ -78,13 +78,11 @@ class G2O_TYPES_SLAM3D_API VertexSE3DrawAction : public DrawAction {
  public:
   VertexSE3DrawAction();
   bool operator()(HyperGraph::HyperGraphElement& element,
-                  const std::shared_ptr<HyperGraphElementAction::Parameters>&
-                      params_) override;
+                  HyperGraphElementAction::Parameters& params_) override;
 
  protected:
-  bool refreshPropertyPtrs(
-      const std::shared_ptr<HyperGraphElementAction::Parameters>& params_)
-      override;
+  DrawAction::Parameters* refreshPropertyPtrs(
+      HyperGraphElementAction::Parameters& params_) override;
   std::shared_ptr<FloatProperty> triangleX_, triangleY_;
 };
 #endif
diff --git a/g2o/types/slam3d_addons/edge_se3_line.cpp b/g2o/types/slam3d_addons/edge_se3_line.cpp
index 275f74303..8e1ae862c 100644
--- a/g2o/types/slam3d_addons/edge_se3_line.cpp
+++ b/g2o/types/slam3d_addons/edge_se3_line.cpp
@@ -67,26 +67,21 @@ EdgeSE3Line3DDrawAction::EdgeSE3Line3DDrawAction()
       lineLength_(nullptr),
       lineWidth_(nullptr) {}
 
-bool EdgeSE3Line3DDrawAction::refreshPropertyPtrs(
-    const std::shared_ptr<HyperGraphElementAction::Parameters>& params_) {
-  if (!DrawAction::refreshPropertyPtrs(params_)) {
-    return false;
+DrawAction::Parameters* EdgeSE3Line3DDrawAction::refreshPropertyPtrs(
+    HyperGraphElementAction::Parameters& params_) {
+  DrawAction::Parameters* params = DrawAction::refreshPropertyPtrs(params_);
+  if (params) {
+    lineLength_ =
+        params->makeProperty<FloatProperty>(typeName_ + "::LINE_LENGTH", 4.0F);
+    lineWidth_ =
+        params->makeProperty<FloatProperty>(typeName_ + "::LINE_WIDTH", 2.0F);
   }
-  if (previousParams_) {
-    lineLength_ = previousParams_->makeProperty<FloatProperty>(
-        typeName_ + "::LINE_LENGTH", 4.0F);
-    lineWidth_ = previousParams_->makeProperty<FloatProperty>(
-        typeName_ + "::LINE_WIDTH", 2.0F);
-  } else {
-    lineLength_ = nullptr;
-    lineWidth_ = nullptr;
-  }
-  return true;
+  return params;
 }
 
 bool EdgeSE3Line3DDrawAction::operator()(
     HyperGraph::HyperGraphElement& element,
-    const std::shared_ptr<HyperGraphElementAction::Parameters>& params_) {
+    HyperGraphElementAction::Parameters& params_) {
   if (typeid(element).name() != typeName_) return false;
 
   refreshPropertyPtrs(params_);
diff --git a/g2o/types/slam3d_addons/edge_se3_line.h b/g2o/types/slam3d_addons/edge_se3_line.h
index 57f9aebbd..a6e59291b 100644
--- a/g2o/types/slam3d_addons/edge_se3_line.h
+++ b/g2o/types/slam3d_addons/edge_se3_line.h
@@ -32,6 +32,7 @@
 #include "g2o/config.h"
 #include "g2o/core/base_binary_edge.h"
 #include "g2o/core/eigen_types.h"
+#include "g2o/core/hyper_graph_action.h"
 #include "g2o/types/slam3d/vertex_se3.h"
 #include "g2o_types_slam3d_addons_api.h"
 #include "line3d.h"
@@ -63,13 +64,11 @@ class G2O_TYPES_SLAM3D_ADDONS_API EdgeSE3Line3DDrawAction : public DrawAction {
  public:
   EdgeSE3Line3DDrawAction();
   bool operator()(HyperGraph::HyperGraphElement& element,
-                  const std::shared_ptr<HyperGraphElementAction::Parameters>&
-                      params_) override;
+                  HyperGraphElementAction::Parameters& params_) override;
 
  protected:
-  bool refreshPropertyPtrs(
-      const std::shared_ptr<HyperGraphElementAction::Parameters>& params_)
-      override;
+  DrawAction::Parameters* refreshPropertyPtrs(
+      HyperGraphElementAction::Parameters& params_) override;
   std::shared_ptr<FloatProperty> lineLength_, lineWidth_;
 };
 #endif
diff --git a/g2o/types/slam3d_addons/edge_se3_plane_calib.cpp b/g2o/types/slam3d_addons/edge_se3_plane_calib.cpp
index 9cc7589bf..dff617b0f 100644
--- a/g2o/types/slam3d_addons/edge_se3_plane_calib.cpp
+++ b/g2o/types/slam3d_addons/edge_se3_plane_calib.cpp
@@ -45,24 +45,21 @@ EdgeSE3PlaneSensorCalibDrawAction::EdgeSE3PlaneSensorCalibDrawAction()
       planeWidth_(nullptr),
       planeHeight_(nullptr) {}
 
-bool EdgeSE3PlaneSensorCalibDrawAction::refreshPropertyPtrs(
-    const std::shared_ptr<HyperGraphElementAction::Parameters>& params_) {
-  if (!DrawAction::refreshPropertyPtrs(params_)) return false;
-  if (previousParams_) {
-    planeWidth_ = previousParams_->makeProperty<FloatProperty>(
-        typeName_ + "::PLANE_WIDTH", 0.5F);
-    planeHeight_ = previousParams_->makeProperty<FloatProperty>(
-        typeName_ + "::PLANE_HEIGHT", 0.5F);
-  } else {
-    planeWidth_ = nullptr;
-    planeHeight_ = nullptr;
+DrawAction::Parameters* EdgeSE3PlaneSensorCalibDrawAction::refreshPropertyPtrs(
+    HyperGraphElementAction::Parameters& params_) {
+  DrawAction::Parameters* params = DrawAction::refreshPropertyPtrs(params_);
+  if (params) {
+    planeWidth_ =
+        params->makeProperty<FloatProperty>(typeName_ + "::PLANE_WIDTH", 0.5F);
+    planeHeight_ =
+        params->makeProperty<FloatProperty>(typeName_ + "::PLANE_HEIGHT", 0.5F);
   }
-  return true;
+  return params;
 }
 
 bool EdgeSE3PlaneSensorCalibDrawAction::operator()(
     HyperGraph::HyperGraphElement& element,
-    const std::shared_ptr<HyperGraphElementAction::Parameters>& params_) {
+    HyperGraphElementAction::Parameters& params_) {
   if (typeid(element).name() != typeName_) return false;
 
   refreshPropertyPtrs(params_);
diff --git a/g2o/types/slam3d_addons/edge_se3_plane_calib.h b/g2o/types/slam3d_addons/edge_se3_plane_calib.h
index faa8cc8c9..c75104549 100644
--- a/g2o/types/slam3d_addons/edge_se3_plane_calib.h
+++ b/g2o/types/slam3d_addons/edge_se3_plane_calib.h
@@ -70,13 +70,11 @@ class EdgeSE3PlaneSensorCalibDrawAction : public DrawAction {
   G2O_TYPES_SLAM3D_ADDONS_API EdgeSE3PlaneSensorCalibDrawAction();
   G2O_TYPES_SLAM3D_ADDONS_API bool operator()(
       HyperGraph::HyperGraphElement& element,
-      const std::shared_ptr<HyperGraphElementAction::Parameters>& params_)
-      override;
+      HyperGraphElementAction::Parameters& params_) override;
 
  protected:
-  bool refreshPropertyPtrs(
-      const std::shared_ptr<HyperGraphElementAction::Parameters>& params_)
-      override;
+  DrawAction::Parameters* refreshPropertyPtrs(
+      HyperGraphElementAction::Parameters& params_) override;
   std::shared_ptr<FloatProperty> planeWidth_, planeHeight_;
 };
 #endif
diff --git a/g2o/types/slam3d_addons/vertex_line3d.cpp b/g2o/types/slam3d_addons/vertex_line3d.cpp
index baf54af6f..5d59c1e34 100644
--- a/g2o/types/slam3d_addons/vertex_line3d.cpp
+++ b/g2o/types/slam3d_addons/vertex_line3d.cpp
@@ -41,26 +41,21 @@ VertexLine3DDrawAction::VertexLine3DDrawAction()
       lineLength_(nullptr),
       lineWidth_(nullptr) {}
 
-bool VertexLine3DDrawAction::refreshPropertyPtrs(
-    const std::shared_ptr<HyperGraphElementAction::Parameters>& params_) {
-  if (!DrawAction::refreshPropertyPtrs(params_)) {
-    return false;
-  }
-  if (previousParams_) {
-    lineLength_ = previousParams_->makeProperty<FloatProperty>(
-        typeName_ + "::LINE_LENGTH", 15);
-    lineWidth_ = previousParams_->makeProperty<FloatProperty>(
-        typeName_ + "::LINE_WIDTH", 5);
-  } else {
-    lineLength_ = nullptr;
-    lineWidth_ = nullptr;
+DrawAction::Parameters* VertexLine3DDrawAction::refreshPropertyPtrs(
+    HyperGraphElementAction::Parameters& params_) {
+  DrawAction::Parameters* params = DrawAction::refreshPropertyPtrs(params_);
+  if (params) {
+    lineLength_ =
+        params->makeProperty<FloatProperty>(typeName_ + "::LINE_LENGTH", 15);
+    lineWidth_ =
+        params->makeProperty<FloatProperty>(typeName_ + "::LINE_WIDTH", 5);
   }
-  return true;
+  return params;
 }
 
 bool VertexLine3DDrawAction::operator()(
     HyperGraph::HyperGraphElement& element,
-    const std::shared_ptr<HyperGraphElementAction::Parameters>& params_) {
+    HyperGraphElementAction::Parameters& params_) {
   if (typeid(element).name() != typeName_) {
     return false;
   }
diff --git a/g2o/types/slam3d_addons/vertex_line3d.h b/g2o/types/slam3d_addons/vertex_line3d.h
index ad29495e5..7d8a5d369 100644
--- a/g2o/types/slam3d_addons/vertex_line3d.h
+++ b/g2o/types/slam3d_addons/vertex_line3d.h
@@ -57,13 +57,11 @@ class VertexLine3DDrawAction : public DrawAction {
  public:
   VertexLine3DDrawAction();
   bool operator()(HyperGraph::HyperGraphElement& element,
-                  const std::shared_ptr<HyperGraphElementAction::Parameters>&
-                      params_) override;
+                  HyperGraphElementAction::Parameters& params_) override;
 
  protected:
-  bool refreshPropertyPtrs(
-      const std::shared_ptr<HyperGraphElementAction::Parameters>& params_)
-      override;
+  DrawAction::Parameters* refreshPropertyPtrs(
+      HyperGraphElementAction::Parameters& params_) override;
   std::shared_ptr<FloatProperty> lineLength_, lineWidth_;
 };
 #endif
diff --git a/g2o/types/slam3d_addons/vertex_plane.cpp b/g2o/types/slam3d_addons/vertex_plane.cpp
index 44dfcc847..dd59b3022 100644
--- a/g2o/types/slam3d_addons/vertex_plane.cpp
+++ b/g2o/types/slam3d_addons/vertex_plane.cpp
@@ -29,6 +29,7 @@
 #include <string>
 #include <typeinfo>
 
+#include "g2o/core/hyper_graph_action.h"
 #include "g2o/stuff/macros.h"
 #include "g2o/stuff/misc.h"
 #include "g2o/stuff/opengl_wrapper.h"
@@ -45,24 +46,21 @@ VertexPlaneDrawAction::VertexPlaneDrawAction()
       planeWidth_(nullptr),
       planeHeight_(nullptr) {}
 
-bool VertexPlaneDrawAction::refreshPropertyPtrs(
-    const std::shared_ptr<HyperGraphElementAction::Parameters>& params_) {
-  if (!DrawAction::refreshPropertyPtrs(params_)) return false;
-  if (previousParams_) {
-    planeWidth_ = previousParams_->makeProperty<FloatProperty>(
-        typeName_ + "::PLANE_WIDTH", 3);
-    planeHeight_ = previousParams_->makeProperty<FloatProperty>(
-        typeName_ + "::PLANE_HEIGHT", 3);
-  } else {
-    planeWidth_ = nullptr;
-    planeHeight_ = nullptr;
+DrawAction::Parameters* VertexPlaneDrawAction::refreshPropertyPtrs(
+    HyperGraphElementAction::Parameters& params_) {
+  DrawAction::Parameters* params = DrawAction::refreshPropertyPtrs(params_);
+  if (params) {
+    planeWidth_ =
+        params->makeProperty<FloatProperty>(typeName_ + "::PLANE_WIDTH", 3);
+    planeHeight_ =
+        params->makeProperty<FloatProperty>(typeName_ + "::PLANE_HEIGHT", 3);
   }
-  return true;
+  return params;
 }
 
 bool VertexPlaneDrawAction::operator()(
     HyperGraph::HyperGraphElement& element,
-    const std::shared_ptr<HyperGraphElementAction::Parameters>& params_) {
+    HyperGraphElementAction::Parameters& params_) {
   if (typeid(element).name() != typeName_) return false;
   refreshPropertyPtrs(params_);
   if (!previousParams_) return true;
diff --git a/g2o/types/slam3d_addons/vertex_plane.h b/g2o/types/slam3d_addons/vertex_plane.h
index 2bdbf190c..ea853c9a7 100644
--- a/g2o/types/slam3d_addons/vertex_plane.h
+++ b/g2o/types/slam3d_addons/vertex_plane.h
@@ -56,13 +56,11 @@ class VertexPlaneDrawAction : public DrawAction {
  public:
   VertexPlaneDrawAction();
   bool operator()(HyperGraph::HyperGraphElement& element,
-                  const std::shared_ptr<HyperGraphElementAction::Parameters>&
-                      params_) override;
+                  HyperGraphElementAction::Parameters& params_) override;
 
  protected:
-  bool refreshPropertyPtrs(
-      const std::shared_ptr<HyperGraphElementAction::Parameters>& params_)
-      override;
+  DrawAction::Parameters* refreshPropertyPtrs(
+      HyperGraphElementAction::Parameters& params_) override;
   std::shared_ptr<FloatProperty> planeWidth_, planeHeight_;
 };
 #endif