diff --git a/doc/ICPWithoutYaml.md b/doc/ICPWithoutYaml.md
index daee0dea..a3c8706c 100644
--- a/doc/ICPWithoutYaml.md
+++ b/doc/ICPWithoutYaml.md
@@ -20,26 +20,26 @@ Prepare the objects for the DataFilters:
 // Prepare reading filters
 name = "MinDistDataPointsFilter";
 params["minDist"] = "1.0";
-PM::DataPointsFilter* minDist_read = 
+std::shared_ptr<PM::DataPointsFilter> minDist_read = 
 	PM::get().DataPointsFilterRegistrar.create(name, params);
 params.clear();
 
 name = "RandomSamplingDataPointsFilter";
 params["prob"] = "0.05";
-PM::DataPointsFilter* rand_read = 
+std::shared_ptr<PM::DataPointsFilter> rand_read = 
 	PM::get().DataPointsFilterRegistrar.create(name, params);
 params.clear();
 
 // Prepare reference filters
 name = "MinDistDataPointsFilter";
 params["minDist"] = "1.0";
-PM::DataPointsFilter* minDist_ref = 
+std::shared_ptr<PM::DataPointsFilter> minDist_ref = 
 	PM::get().DataPointsFilterRegistrar.create(name, params);
 params.clear();
 
 name = "RandomSamplingDataPointsFilter";
 params["prob"] = "0.05";
-PM::DataPointsFilter* rand_ref = 
+std::shared_ptr<PM::DataPointsFilter> rand_ref = 
 	PM::get().DataPointsFilterRegistrar.create(name, params);
 params.clear();
 ```
@@ -51,7 +51,7 @@ Prepare the objects for the Matchers:
 name = "KDTreeMatcher";
 params["knn"] = "1";
 params["epsilon"] = "3.16";
-PM::Matcher* kdtree = 
+std::shared_ptr<PM::Matcher> kdtree = 
 	PM::get().MatcherRegistrar.create(name, params);
 params.clear();
 ```
@@ -62,7 +62,7 @@ Prepare the objects for the OutlierFilters:
 // Prepare outlier filters
 name = "TrimmedDistOutlierFilter";
 params["ratio"] = "0.75";
-PM::OutlierFilter* trim = 
+std::shared_ptr<PM::OutlierFilter> trim = 
 	PM::get().OutlierFilterRegistrar.create(name, params);
 params.clear();
 ```
@@ -72,7 +72,7 @@ Prepare the object for the ErrorMinimizer:
 ```cpp
 // Prepare error minimization
 name = "PointToPointErrorMinimizer";
-PM::ErrorMinimizer* pointToPoint =   
+std::shared_ptr<PM::ErrorMinimizer> pointToPoint =   
 	PM::get().ErrorMinimizerRegistrar.create(name);
 ```
 
@@ -82,7 +82,7 @@ Prepare the objects for the TransformationCheckers:
 // Prepare outlier filters
 name = "CounterTransformationChecker";
 params["maxIterationCount"] = "150";
-PM::TransformationChecker* maxIter = 
+std::shared_ptr<PM::TransformationChecker> maxIter = 
 	PM::get().TransformationCheckerRegistrar.create(name, params);
 params.clear();
 
@@ -90,7 +90,7 @@ name = "DifferentialTransformationChecker";
 params["minDiffRotErr"] = "0.001";
 params["minDiffTransErr"] = "0.01";
 params["smoothLength"] = "4";
-PM::TransformationChecker* diff = 
+std::shared_ptr<PM::TransformationChecker> diff = 
 	PM::get().TransformationCheckerRegistrar.create(name, params);
 params.clear();
 ```
@@ -99,7 +99,7 @@ Prepare the objects for the Inspector:
 
 ```cpp
 // Prepare inspector
-PM::Inspector* nullInspect =
+std::shared_ptr<PM::Inspector> nullInspect =
 	PM::get().InspectorRegistrar.create("NullInspector");
 ```
 
@@ -107,11 +107,11 @@ Prepare the objects for the Transformation:
 
 ```cpp
 // Prepare transformation
-PM::Transformation* rigidTrans =
+std::shared_ptr<PM::Transformation> rigidTrans =
 	PM::get().TransformationRegistrar.create("RigidTransformation");
 ```
 
-Finally, build the complet solution:
+Finally, build the complete solution:
 
 ```cpp
 // Build ICP solution
@@ -121,16 +121,18 @@ icp.readingDataPointsFilters.push_back(rand_read);
 icp.referenceDataPointsFilters.push_back(minDist_ref);
 icp.referenceDataPointsFilters.push_back(rand_ref);
 
-icp.matcher.reset(kdtree);
-	
+icp.matcher = kdtree;
+
 icp.outlierFilters.push_back(trim);
-	
-icp.errorMinimizer.reset(pointToPoint);
+
+icp.errorMinimizer = pointToPoint;
 
 icp.transformationCheckers.push_back(maxIter);
 icp.transformationCheckers.push_back(diff);
-	
-icp.inspector.reset(nullInspect);
+
+// toggle to write vtk files per iteration
+icp.inspector = nullInspect;
+//icp.inspector = vtkInspect;
 
 icp.transformations.push_back(rigidTrans);
 ```
diff --git a/doc/Transformations.md b/doc/Transformations.md
index 2454f442..0a1bc1f2 100644
--- a/doc/Transformations.md
+++ b/doc/Transformations.md
@@ -40,8 +40,8 @@ int main(int argc, char *argv[]) {
 
 	std::cout << "Transformation Matrix: " << std::endl << T << std::endl;
 
-	PM::Transformation* rigidTrans;
-	rigidTrans = PM::get().REG(Transformation).create("RigidTransformation").get();
+	std::shared_ptr<PM::Transformation> rigidTrans;
+	rigidTrans = PM::get().REG(Transformation).create("RigidTransformation");
 
 	if (!rigidTrans->checkParameters(T)) {
 		std::cout << "WARNING: T does not represent a valid rigid transformation\nProjecting onto an orthogonal basis"
diff --git a/examples/icp_customized.cpp b/examples/icp_customized.cpp
index e3e69316..c5f4d131 100644
--- a/examples/icp_customized.cpp
+++ b/examples/icp_customized.cpp
@@ -136,15 +136,14 @@ int main(int argc, char *argv[])
 	std::shared_ptr<PM::Inspector> nullInspect =
 		PM::get().InspectorRegistrar.create("NullInspector");
 
-	//name = "VTKFileInspector";
-    //	params["dumpDataLinks"] = "1"; 
-    //	params["dumpReading"] = "1"; 
-    //	params["dumpReference"] = "1"; 
+//	name = "VTKFileInspector";
+//	params["dumpDataLinks"] = "1";
+//	params["dumpReading"] = "1";
+//	params["dumpReference"] = "1";
+//	std::shared_ptr<PM::Inspector> vtkInspect =
+//		PM::get().InspectorRegistrar.create(name, params);
+//	params.clear();
 
-	//PM::Inspector* vtkInspect =
-	//	PM::get().InspectorRegistrar.create(name, params);
-	params.clear();
-	
 	// Prepare transformation
 	std::shared_ptr<PM::Transformation> rigidTrans =
 		PM::get().TransformationRegistrar.create("RigidTransformation");