diff --git a/apps/robot-map-gui/gui/configWidget/CConfigWidget.cpp b/apps/robot-map-gui/gui/configWidget/CConfigWidget.cpp
index 256e150f50..67cbb40f93 100644
--- a/apps/robot-map-gui/gui/configWidget/CConfigWidget.cpp
+++ b/apps/robot-map-gui/gui/configWidget/CConfigWidget.cpp
@@ -211,11 +211,11 @@ TSetOfMetricMapInitializers CConfigWidget::config()
 		for (auto& map : it.second)
 		{
 			const std::string sMapName = map->getName().toStdString();
-			TMetricMapInitializer* mi = mmr.factoryMapDefinition(sMapName);
+			auto mi = mmr.factoryMapDefinition(sMapName);
 			ASSERT_(mi);
 
-			map->updateConfiguration(mi);
-			mapCfg.push_back(TMetricMapInitializer::Ptr(mi));
+			map->updateConfiguration(mi.get());
+			mapCfg.push_back(mi);
 			++index;
 		}
 	}
diff --git a/doc/source/doxygen-docs/changelog.md b/doc/source/doxygen-docs/changelog.md
index 5c6ecd830a..66566c450e 100644
--- a/doc/source/doxygen-docs/changelog.md
+++ b/doc/source/doxygen-docs/changelog.md
@@ -10,6 +10,7 @@
       - mrpt::maps::COccupancyGridMap2D
       - mrpt::maps::COccupancyGridMap2D
     - New virtual method mrpt::maps::CMetricMap::boundingBox()
+    - mrpt::maps::TMetricMapInitializer now returns `shared_ptr`s instead of plain pointers.
   - \ref mrpt_core_grp
     - Add the `[[nodiscard]]` attribute to all functions returning a value in `<mrpt/core/bits_math.h>`
 
diff --git a/libs/maps/src/maps/CBeaconMap.cpp b/libs/maps/src/maps/CBeaconMap.cpp
index ca1c97db2d..3d7070f010 100644
--- a/libs/maps/src/maps/CBeaconMap.cpp
+++ b/libs/maps/src/maps/CBeaconMap.cpp
@@ -69,12 +69,12 @@ void CBeaconMap::TMapDefinition::dumpToTextStream_map_specific(
 	this->likelihoodOpts.dumpToTextStream(out);
 }
 
-mrpt::maps::CMetricMap* CBeaconMap::internal_CreateFromMapDefinition(
+mrpt::maps::CMetricMap::Ptr CBeaconMap::internal_CreateFromMapDefinition(
 	const mrpt::maps::TMetricMapInitializer& _def)
 {
 	const CBeaconMap::TMapDefinition& def =
 		*dynamic_cast<const CBeaconMap::TMapDefinition*>(&_def);
-	auto* obj = new CBeaconMap();
+	auto obj = CBeaconMap::Create();
 	obj->insertionOptions = def.insertionOpts;
 	obj->likelihoodOptions = def.likelihoodOpts;
 	return obj;
diff --git a/libs/maps/src/maps/CColouredOctoMap.cpp b/libs/maps/src/maps/CColouredOctoMap.cpp
index cf9e126176..21167dc569 100644
--- a/libs/maps/src/maps/CColouredOctoMap.cpp
+++ b/libs/maps/src/maps/CColouredOctoMap.cpp
@@ -68,12 +68,12 @@ void CColouredOctoMap::TMapDefinition::dumpToTextStream_map_specific(
 	this->likelihoodOpts.dumpToTextStream(out);
 }
 
-mrpt::maps::CMetricMap* CColouredOctoMap::internal_CreateFromMapDefinition(
+mrpt::maps::CMetricMap::Ptr CColouredOctoMap::internal_CreateFromMapDefinition(
 	const mrpt::maps::TMetricMapInitializer& _def)
 {
 	const CColouredOctoMap::TMapDefinition& def =
 		*dynamic_cast<const CColouredOctoMap::TMapDefinition*>(&_def);
-	auto* obj = new CColouredOctoMap(def.resolution);
+	auto obj = CColouredOctoMap::Create(def.resolution);
 	obj->insertionOptions = def.insertionOpts;
 	obj->likelihoodOptions = def.likelihoodOpts;
 	return obj;
diff --git a/libs/maps/src/maps/CColouredPointsMap.cpp b/libs/maps/src/maps/CColouredPointsMap.cpp
index c2a0ab3a57..1a2f8f4279 100644
--- a/libs/maps/src/maps/CColouredPointsMap.cpp
+++ b/libs/maps/src/maps/CColouredPointsMap.cpp
@@ -55,12 +55,13 @@ void CColouredPointsMap::TMapDefinition::dumpToTextStream_map_specific(
 	this->colourOpts.dumpToTextStream(out);
 }
 
-mrpt::maps::CMetricMap* CColouredPointsMap::internal_CreateFromMapDefinition(
-	const mrpt::maps::TMetricMapInitializer& _def)
+mrpt::maps::CMetricMap::Ptr
+	CColouredPointsMap::internal_CreateFromMapDefinition(
+		const mrpt::maps::TMetricMapInitializer& _def)
 {
 	const CColouredPointsMap::TMapDefinition& def =
 		*dynamic_cast<const CColouredPointsMap::TMapDefinition*>(&_def);
-	auto* obj = new CColouredPointsMap();
+	auto obj = CColouredPointsMap::Create();
 	obj->insertionOptions = def.insertionOpts;
 	obj->likelihoodOptions = def.likelihoodOpts;
 	obj->colorScheme = def.colourOpts;
diff --git a/libs/maps/src/maps/CGasConcentrationGridMap2D.cpp b/libs/maps/src/maps/CGasConcentrationGridMap2D.cpp
index 74d5e3753b..29619ef3c3 100644
--- a/libs/maps/src/maps/CGasConcentrationGridMap2D.cpp
+++ b/libs/maps/src/maps/CGasConcentrationGridMap2D.cpp
@@ -80,13 +80,13 @@ void CGasConcentrationGridMap2D::TMapDefinition::dumpToTextStream_map_specific(
 	this->insertionOpts.dumpToTextStream(out);
 }
 
-mrpt::maps::CMetricMap*
+mrpt::maps::CMetricMap::Ptr
 	CGasConcentrationGridMap2D::internal_CreateFromMapDefinition(
 		const mrpt::maps::TMetricMapInitializer& _def)
 {
 	const CGasConcentrationGridMap2D::TMapDefinition& def =
 		*dynamic_cast<const CGasConcentrationGridMap2D::TMapDefinition*>(&_def);
-	auto* obj = new CGasConcentrationGridMap2D(
+	auto obj = CGasConcentrationGridMap2D::Create(
 		def.mapType, def.min_x, def.max_x, def.min_y, def.max_y,
 		def.resolution);
 	obj->insertionOptions = def.insertionOpts;
diff --git a/libs/maps/src/maps/CHeightGridMap2D.cpp b/libs/maps/src/maps/CHeightGridMap2D.cpp
index 0534e04c51..c9212cb793 100644
--- a/libs/maps/src/maps/CHeightGridMap2D.cpp
+++ b/libs/maps/src/maps/CHeightGridMap2D.cpp
@@ -70,12 +70,12 @@ void CHeightGridMap2D::TMapDefinition::dumpToTextStream_map_specific(
 	this->insertionOpts.dumpToTextStream(out);
 }
 
-mrpt::maps::CMetricMap* CHeightGridMap2D::internal_CreateFromMapDefinition(
+mrpt::maps::CMetricMap::Ptr CHeightGridMap2D::internal_CreateFromMapDefinition(
 	const mrpt::maps::TMetricMapInitializer& _def)
 {
 	const CHeightGridMap2D::TMapDefinition& def =
 		*dynamic_cast<const CHeightGridMap2D::TMapDefinition*>(&_def);
-	auto* obj = new CHeightGridMap2D(
+	auto obj = CHeightGridMap2D::Create(
 		def.mapType, def.min_x, def.max_x, def.min_y, def.max_y,
 		def.resolution);
 	obj->insertionOptions = def.insertionOpts;
diff --git a/libs/maps/src/maps/CHeightGridMap2D_MRF.cpp b/libs/maps/src/maps/CHeightGridMap2D_MRF.cpp
index ad208dcc60..da72444657 100644
--- a/libs/maps/src/maps/CHeightGridMap2D_MRF.cpp
+++ b/libs/maps/src/maps/CHeightGridMap2D_MRF.cpp
@@ -66,12 +66,13 @@ void CHeightGridMap2D_MRF::TMapDefinition::dumpToTextStream_map_specific(
 	this->insertionOpts.dumpToTextStream(out);
 }
 
-mrpt::maps::CMetricMap* CHeightGridMap2D_MRF::internal_CreateFromMapDefinition(
-	const mrpt::maps::TMetricMapInitializer& _def)
+mrpt::maps::CMetricMap::Ptr
+	CHeightGridMap2D_MRF::internal_CreateFromMapDefinition(
+		const mrpt::maps::TMetricMapInitializer& _def)
 {
 	const CHeightGridMap2D_MRF::TMapDefinition& def =
 		*dynamic_cast<const CHeightGridMap2D_MRF::TMapDefinition*>(&_def);
-	auto* obj = new CHeightGridMap2D_MRF(
+	auto obj = CHeightGridMap2D_MRF::Create(
 		def.mapType, def.min_x, def.max_x, def.min_y, def.max_y, def.resolution,
 		def.run_map_estimation_at_ctor);
 	obj->insertionOptions = def.insertionOpts;
diff --git a/libs/maps/src/maps/CMultiMetricMap.cpp b/libs/maps/src/maps/CMultiMetricMap.cpp
index 24ee56c873..da7d0433aa 100644
--- a/libs/maps/src/maps/CMultiMetricMap.cpp
+++ b/libs/maps/src/maps/CMultiMetricMap.cpp
@@ -123,7 +123,7 @@ void CMultiMetricMap::setListOfMaps(const TSetOfMetricMapInitializers& inits)
 	for (const auto& i : inits)
 	{
 		// Create map from the list of all params:
-		auto* theMap = mmr.factoryMapObjectFromDefinition(*i.get());
+		auto theMap = mmr.factoryMapObjectFromDefinition(*i.get());
 		ASSERT_(theMap);
 		// Add to the list of maps:
 		this->maps.emplace_back(theMap);
diff --git a/libs/maps/src/maps/COccupancyGridMap2D_common.cpp b/libs/maps/src/maps/COccupancyGridMap2D_common.cpp
index 185358bc0f..6ef5ae0cc4 100644
--- a/libs/maps/src/maps/COccupancyGridMap2D_common.cpp
+++ b/libs/maps/src/maps/COccupancyGridMap2D_common.cpp
@@ -69,12 +69,13 @@ void COccupancyGridMap2D::TMapDefinition::dumpToTextStream_map_specific(
 	this->likelihoodOpts.dumpToTextStream(out);
 }
 
-mrpt::maps::CMetricMap* COccupancyGridMap2D::internal_CreateFromMapDefinition(
-	const mrpt::maps::TMetricMapInitializer& _def)
+mrpt::maps::CMetricMap::Ptr
+	COccupancyGridMap2D::internal_CreateFromMapDefinition(
+		const mrpt::maps::TMetricMapInitializer& _def)
 {
 	const COccupancyGridMap2D::TMapDefinition& def =
 		*dynamic_cast<const COccupancyGridMap2D::TMapDefinition*>(&_def);
-	auto* obj = new COccupancyGridMap2D(
+	auto obj = COccupancyGridMap2D::Create(
 		def.min_x, def.max_x, def.min_y, def.max_y, def.resolution);
 	obj->insertionOptions = def.insertionOpts;
 	obj->likelihoodOptions = def.likelihoodOpts;
diff --git a/libs/maps/src/maps/COccupancyGridMap3D.cpp b/libs/maps/src/maps/COccupancyGridMap3D.cpp
index 88af2bced9..8f32de28bc 100644
--- a/libs/maps/src/maps/COccupancyGridMap3D.cpp
+++ b/libs/maps/src/maps/COccupancyGridMap3D.cpp
@@ -63,11 +63,12 @@ void COccupancyGridMap3D::TMapDefinition::dumpToTextStream_map_specific(
 	this->likelihoodOpts.dumpToTextStream(out);
 }
 
-mrpt::maps::CMetricMap* COccupancyGridMap3D::internal_CreateFromMapDefinition(
-	const mrpt::maps::TMetricMapInitializer& _def)
+mrpt::maps::CMetricMap::Ptr
+	COccupancyGridMap3D::internal_CreateFromMapDefinition(
+		const mrpt::maps::TMetricMapInitializer& _def)
 {
 	auto& def = dynamic_cast<const COccupancyGridMap3D::TMapDefinition&>(_def);
-	auto* obj = new COccupancyGridMap3D(
+	auto obj = COccupancyGridMap3D::Create(
 		mrpt::math::TPoint3D(def.min_x, def.min_y, def.min_z),
 		mrpt::math::TPoint3D(def.max_x, def.max_y, def.max_z), def.resolution);
 	obj->insertionOptions = def.insertionOpts;
diff --git a/libs/maps/src/maps/COctoMap.cpp b/libs/maps/src/maps/COctoMap.cpp
index 6ce25f846a..d86f6de1f5 100644
--- a/libs/maps/src/maps/COctoMap.cpp
+++ b/libs/maps/src/maps/COctoMap.cpp
@@ -60,12 +60,12 @@ void COctoMap::TMapDefinition::dumpToTextStream_map_specific(
 	this->likelihoodOpts.dumpToTextStream(out);
 }
 
-mrpt::maps::CMetricMap* COctoMap::internal_CreateFromMapDefinition(
+mrpt::maps::CMetricMap::Ptr COctoMap::internal_CreateFromMapDefinition(
 	const mrpt::maps::TMetricMapInitializer& _def)
 {
 	const COctoMap::TMapDefinition& def =
 		*dynamic_cast<const COctoMap::TMapDefinition*>(&_def);
-	auto* obj = new COctoMap(def.resolution);
+	auto obj = COctoMap::Create(def.resolution);
 	obj->insertionOptions = def.insertionOpts;
 	obj->likelihoodOptions = def.likelihoodOpts;
 	return obj;
diff --git a/libs/maps/src/maps/CPointsMapXYZI.cpp b/libs/maps/src/maps/CPointsMapXYZI.cpp
index 47212a6273..ad18ee6321 100644
--- a/libs/maps/src/maps/CPointsMapXYZI.cpp
+++ b/libs/maps/src/maps/CPointsMapXYZI.cpp
@@ -56,12 +56,12 @@ void CPointsMapXYZI::TMapDefinition::dumpToTextStream_map_specific(
 	this->likelihoodOpts.dumpToTextStream(out);
 }
 
-mrpt::maps::CMetricMap* CPointsMapXYZI::internal_CreateFromMapDefinition(
+mrpt::maps::CMetricMap::Ptr CPointsMapXYZI::internal_CreateFromMapDefinition(
 	const mrpt::maps::TMetricMapInitializer& _def)
 {
 	const CPointsMapXYZI::TMapDefinition& def =
 		*dynamic_cast<const CPointsMapXYZI::TMapDefinition*>(&_def);
-	auto* obj = new CPointsMapXYZI();
+	auto obj = CPointsMapXYZI::Create();
 	obj->insertionOptions = def.insertionOpts;
 	obj->likelihoodOptions = def.likelihoodOpts;
 	return obj;
diff --git a/libs/maps/src/maps/CReflectivityGridMap2D.cpp b/libs/maps/src/maps/CReflectivityGridMap2D.cpp
index 81154e3b7c..315c50ac09 100644
--- a/libs/maps/src/maps/CReflectivityGridMap2D.cpp
+++ b/libs/maps/src/maps/CReflectivityGridMap2D.cpp
@@ -65,13 +65,13 @@ void CReflectivityGridMap2D::TMapDefinition::dumpToTextStream_map_specific(
 	this->insertionOpts.dumpToTextStream(out);
 }
 
-mrpt::maps::CMetricMap*
+mrpt::maps::CMetricMap::Ptr
 	CReflectivityGridMap2D::internal_CreateFromMapDefinition(
 		const mrpt::maps::TMetricMapInitializer& _def)
 {
 	const CReflectivityGridMap2D::TMapDefinition& def =
 		*dynamic_cast<const CReflectivityGridMap2D::TMapDefinition*>(&_def);
-	auto* obj = new CReflectivityGridMap2D(
+	auto obj = CReflectivityGridMap2D::Create(
 		def.min_x, def.max_x, def.min_y, def.max_y, def.resolution);
 	obj->insertionOptions = def.insertionOpts;
 	return obj;
diff --git a/libs/maps/src/maps/CSimplePointsMap.cpp b/libs/maps/src/maps/CSimplePointsMap.cpp
index 38ed822245..6f213c80b8 100644
--- a/libs/maps/src/maps/CSimplePointsMap.cpp
+++ b/libs/maps/src/maps/CSimplePointsMap.cpp
@@ -43,12 +43,12 @@ void CSimplePointsMap::TMapDefinition::dumpToTextStream_map_specific(
 	this->renderOpts.dumpToTextStream(out);
 }
 
-mrpt::maps::CMetricMap* CSimplePointsMap::internal_CreateFromMapDefinition(
+mrpt::maps::CMetricMap::Ptr CSimplePointsMap::internal_CreateFromMapDefinition(
 	const mrpt::maps::TMetricMapInitializer& _def)
 {
 	const CSimplePointsMap::TMapDefinition& def =
 		*dynamic_cast<const CSimplePointsMap::TMapDefinition*>(&_def);
-	auto* obj = new CSimplePointsMap();
+	auto obj = CSimplePointsMap::Create();
 	obj->insertionOptions = def.insertionOpts;
 	obj->likelihoodOptions = def.likelihoodOpts;
 	obj->renderOptions = def.renderOpts;
diff --git a/libs/maps/src/maps/CVoxelMap.cpp b/libs/maps/src/maps/CVoxelMap.cpp
index dadea25917..6472c359ff 100644
--- a/libs/maps/src/maps/CVoxelMap.cpp
+++ b/libs/maps/src/maps/CVoxelMap.cpp
@@ -45,12 +45,12 @@ void CVoxelMap::TMapDefinition::dumpToTextStream_map_specific(
 	this->likelihoodOpts.dumpToTextStream(out);
 }
 
-mrpt::maps::CMetricMap* CVoxelMap::internal_CreateFromMapDefinition(
+mrpt::maps::CMetricMap::Ptr CVoxelMap::internal_CreateFromMapDefinition(
 	const mrpt::maps::TMetricMapInitializer& _def)
 {
 	const CVoxelMap::TMapDefinition& def =
 		*dynamic_cast<const CVoxelMap::TMapDefinition*>(&_def);
-	auto* obj = new CVoxelMap(def.resolution);
+	auto obj = CVoxelMap::Create(def.resolution);
 	obj->insertionOptions = def.insertionOpts;
 	obj->likelihoodOptions = def.likelihoodOpts;
 	return obj;
diff --git a/libs/maps/src/maps/CVoxelMapRGB.cpp b/libs/maps/src/maps/CVoxelMapRGB.cpp
index 7b65b584c5..95ad5c9871 100644
--- a/libs/maps/src/maps/CVoxelMapRGB.cpp
+++ b/libs/maps/src/maps/CVoxelMapRGB.cpp
@@ -47,12 +47,12 @@ void CVoxelMapRGB::TMapDefinition::dumpToTextStream_map_specific(
 	this->likelihoodOpts.dumpToTextStream(out);
 }
 
-mrpt::maps::CMetricMap* CVoxelMapRGB::internal_CreateFromMapDefinition(
+mrpt::maps::CMetricMap::Ptr CVoxelMapRGB::internal_CreateFromMapDefinition(
 	const mrpt::maps::TMetricMapInitializer& _def)
 {
 	const CVoxelMapRGB::TMapDefinition& def =
 		*dynamic_cast<const CVoxelMapRGB::TMapDefinition*>(&_def);
-	auto* obj = new CVoxelMapRGB(def.resolution);
+	auto obj = CVoxelMapRGB::Create(def.resolution);
 	obj->insertionOptions = def.insertionOpts;
 	obj->likelihoodOptions = def.likelihoodOpts;
 	return obj;
diff --git a/libs/maps/src/maps/CWeightedPointsMap.cpp b/libs/maps/src/maps/CWeightedPointsMap.cpp
index a2bb117880..8a8671348c 100644
--- a/libs/maps/src/maps/CWeightedPointsMap.cpp
+++ b/libs/maps/src/maps/CWeightedPointsMap.cpp
@@ -45,12 +45,13 @@ void CWeightedPointsMap::TMapDefinition::dumpToTextStream_map_specific(
 	this->likelihoodOpts.dumpToTextStream(out);
 }
 
-mrpt::maps::CMetricMap* CWeightedPointsMap::internal_CreateFromMapDefinition(
-	const mrpt::maps::TMetricMapInitializer& _def)
+mrpt::maps::CMetricMap::Ptr
+	CWeightedPointsMap::internal_CreateFromMapDefinition(
+		const mrpt::maps::TMetricMapInitializer& _def)
 {
 	const CWeightedPointsMap::TMapDefinition& def =
 		*dynamic_cast<const CWeightedPointsMap::TMapDefinition*>(&_def);
-	auto* obj = new CWeightedPointsMap();
+	auto obj = CWeightedPointsMap::Create();
 	obj->insertionOptions = def.insertionOpts;
 	obj->likelihoodOptions = def.likelihoodOpts;
 	return obj;
diff --git a/libs/maps/src/maps/CWirelessPowerGridMap2D.cpp b/libs/maps/src/maps/CWirelessPowerGridMap2D.cpp
index 7fb1160506..017015fe50 100644
--- a/libs/maps/src/maps/CWirelessPowerGridMap2D.cpp
+++ b/libs/maps/src/maps/CWirelessPowerGridMap2D.cpp
@@ -67,13 +67,13 @@ void CWirelessPowerGridMap2D::TMapDefinition::dumpToTextStream_map_specific(
 	this->insertionOpts.dumpToTextStream(out);
 }
 
-mrpt::maps::CMetricMap*
+mrpt::maps::CMetricMap::Ptr
 	CWirelessPowerGridMap2D::internal_CreateFromMapDefinition(
 		const mrpt::maps::TMetricMapInitializer& _def)
 {
 	const CWirelessPowerGridMap2D::TMapDefinition& def =
 		*dynamic_cast<const CWirelessPowerGridMap2D::TMapDefinition*>(&_def);
-	auto* obj = new CWirelessPowerGridMap2D(
+	auto obj = CWirelessPowerGridMap2D::Create(
 		def.mapType, def.min_x, def.max_x, def.min_y, def.max_y,
 		def.resolution);
 	obj->insertionOptions = def.insertionOpts;
diff --git a/libs/obs/include/mrpt/maps/TMetricMapInitializer.h b/libs/obs/include/mrpt/maps/TMetricMapInitializer.h
index 77c2e18364..bd03f10aa6 100644
--- a/libs/obs/include/mrpt/maps/TMetricMapInitializer.h
+++ b/libs/obs/include/mrpt/maps/TMetricMapInitializer.h
@@ -64,7 +64,7 @@ struct TMetricMapInitializer : public mrpt::config::CLoadableOptions
 
 	/** Looks up in the registry of known map types and call the corresponding
 	 * `<metric_map_class>::MapDefinition()`. */
-	static TMetricMapInitializer* factory(const std::string& mapClassName);
+	static Ptr factory(const std::string& mapClassName);
 
    protected:
 	TMetricMapInitializer(const mrpt::rtti::TRuntimeClassId* classID);
@@ -97,7 +97,7 @@ class TSetOfMetricMapInitializers : public mrpt::config::CLoadableOptions
 	template <typename MAP_DEFINITION>
 	void push_back(const MAP_DEFINITION& o)
 	{
-		m_list.push_back(TMetricMapInitializer::Ptr(new MAP_DEFINITION(o)));
+		m_list.push_back(std::make_shared<MAP_DEFINITION>(o));
 	}
 
 	void push_back(const TMetricMapInitializer::Ptr& o) { m_list.push_back(o); }
diff --git a/libs/obs/include/mrpt/maps/TMetricMapTypesRegistry.h b/libs/obs/include/mrpt/maps/TMetricMapTypesRegistry.h
index 890476b845..8be37572db 100644
--- a/libs/obs/include/mrpt/maps/TMetricMapTypesRegistry.h
+++ b/libs/obs/include/mrpt/maps/TMetricMapTypesRegistry.h
@@ -13,6 +13,7 @@
 
 #include <functional>
 #include <map>
+#include <memory>
 #include <string>
 
 namespace mrpt
@@ -23,9 +24,10 @@ struct TMetricMapInitializer;
 namespace internal
 {
 using MapDefCtorFunctor =
-	std::function<mrpt::maps::TMetricMapInitializer*(void)>;
-using MapCtorFromDefFunctor = std::function<mrpt::maps::CMetricMap*(
-	const mrpt::maps::TMetricMapInitializer&)>;
+	std::function<std::shared_ptr<mrpt::maps::TMetricMapInitializer>(void)>;
+using MapCtorFromDefFunctor =
+	std::function<std::shared_ptr<mrpt::maps::CMetricMap>(
+		const mrpt::maps::TMetricMapInitializer&)>;
 
 /** Class factory & registry for map classes. Used from
  * mrpt::maps::TMetricMapInitializer */
@@ -38,14 +40,30 @@ struct TMetricMapTypesRegistry
 	size_t doRegister(
 		const std::string& name, MapDefCtorFunctor func1,
 		MapCtorFromDefFunctor func2);
+
 	/** Return nullptr if not found */
-	mrpt::maps::TMetricMapInitializer* factoryMapDefinition(
+	std::shared_ptr<mrpt::maps::TMetricMapInitializer> factoryMapDefinition(
 		const std::string& className) const;
+
 	/** Return nullptr if not found */
-	mrpt::maps::CMetricMap* factoryMapObjectFromDefinition(
+	std::shared_ptr<mrpt::maps::CMetricMap> factoryMapObjectFromDefinition(
 		const mrpt::maps::TMetricMapInitializer& mi) const;
-	using TListRegisteredMaps = std::map<
-		std::string, std::pair<MapDefCtorFunctor, MapCtorFromDefFunctor>>;
+
+	struct InfoPerMapClass
+	{
+		InfoPerMapClass() = default;
+		InfoPerMapClass(
+			const MapDefCtorFunctor& DefCtor,
+			const MapCtorFromDefFunctor& MapCtor)
+			: defCtor(DefCtor), mapCtor(MapCtor)
+		{
+		}
+
+		MapDefCtorFunctor defCtor;
+		MapCtorFromDefFunctor mapCtor;
+	};
+
+	using TListRegisteredMaps = std::map<std::string, InfoPerMapClass>;
 	const TListRegisteredMaps& getAllRegistered() const { return m_registry; }
 
    private:
@@ -78,13 +96,14 @@ struct TMetricMapTypesRegistry
 	;                                                                          \
 	/** Returns default map definition initializer. See                        \
 	 * mrpt::maps::TMetricMapInitializer */                                    \
-	static mrpt::maps::TMetricMapInitializer* MapDefinition();                 \
+	static std::shared_ptr<mrpt::maps::TMetricMapInitializer> MapDefinition(); \
 	/** Constructor from a map definition structure: initializes the map and   \
 	 * its parameters accordingly */                                           \
-	static _CLASS_NAME_* CreateFromMapDefinition(                              \
-		const mrpt::maps::TMetricMapInitializer& def);                         \
-	static mrpt::maps::CMetricMap* internal_CreateFromMapDefinition(           \
+	static std::shared_ptr<_CLASS_NAME_> CreateFromMapDefinition(              \
 		const mrpt::maps::TMetricMapInitializer& def);                         \
+	static std::shared_ptr<mrpt::maps::CMetricMap>                             \
+		internal_CreateFromMapDefinition(                                      \
+			const mrpt::maps::TMetricMapInitializer& def);                     \
 	/** ID used to initialize class registration (just ignore it) */           \
 	static const size_t m_private_map_register_id;                             \
 /** @} */
@@ -97,17 +116,18 @@ struct TMetricMapTypesRegistry
 		mrpt::maps::internal::TMetricMapTypesRegistry::Instance().doRegister(  \
 			_CLASSNAME_STRINGS, &_CLASSNAME_WITH_NS::MapDefinition,            \
 			&_CLASSNAME_WITH_NS::internal_CreateFromMapDefinition);            \
-	mrpt::maps::TMetricMapInitializer* _CLASSNAME_WITH_NS::MapDefinition()     \
+	std::shared_ptr<mrpt::maps::TMetricMapInitializer>                         \
+		_CLASSNAME_WITH_NS::MapDefinition()                                    \
 	{                                                                          \
-		return new _CLASSNAME_WITH_NS::TMapDefinition;                         \
+		return std::make_shared<_CLASSNAME_WITH_NS::TMapDefinition>();         \
 	}                                                                          \
-	_CLASSNAME_WITH_NS* _CLASSNAME_WITH_NS::CreateFromMapDefinition(           \
-		const mrpt::maps::TMetricMapInitializer& def)                          \
+	std::shared_ptr<_CLASSNAME_WITH_NS>                                        \
+		_CLASSNAME_WITH_NS::CreateFromMapDefinition(                           \
+			const mrpt::maps::TMetricMapInitializer& def)                      \
 	{                                                                          \
-		return dynamic_cast<_CLASSNAME_WITH_NS*>(                              \
+		return std::dynamic_pointer_cast<_CLASSNAME_WITH_NS>(                  \
 			_CLASSNAME_WITH_NS::internal_CreateFromMapDefinition(def));        \
 	}
-
 }  // namespace internal
 }  // namespace maps
 }  // namespace mrpt
diff --git a/libs/obs/src/TMetricMapInitializer.cpp b/libs/obs/src/TMetricMapInitializer.cpp
index 7789874e49..b0a662664c 100644
--- a/libs/obs/src/TMetricMapInitializer.cpp
+++ b/libs/obs/src/TMetricMapInitializer.cpp
@@ -19,7 +19,7 @@ using namespace mrpt::maps;
 
 /** Looks up in the registry of known map types and call the corresponding
  * `<metric_map_class>::MapDefinition()`. */
-TMetricMapInitializer* TMetricMapInitializer::factory(
+TMetricMapInitializer::Ptr TMetricMapInitializer::factory(
 	const std::string& mapClassName)
 {
 	using mrpt::maps::internal::TMetricMapTypesRegistry;
@@ -72,6 +72,7 @@ void TSetOfMetricMapInitializers::loadFromConfigFile(
 	MRPT_START
 
 	using mrpt::maps::internal::TMetricMapTypesRegistry;
+	using namespace std::string_literals;
 
 	// Delete previous contents:
 	clear();
@@ -86,10 +87,10 @@ void TSetOfMetricMapInitializers::loadFromConfigFile(
 		const std::string sMapName = allMapKind.first;
 
 		unsigned int n =
-			ini.read_uint64_t(sectionName, sMapName + string("_count"), 0);
+			ini.read_uint64_t(sectionName, sMapName + "_count"s, 0);
 		for (unsigned int i = 0; i < n; i++)
 		{
-			TMetricMapInitializer* mi = mmr.factoryMapDefinition(sMapName);
+			TMetricMapInitializer::Ptr mi = mmr.factoryMapDefinition(sMapName);
 			ASSERT_(mi);
 
 			// Load from sections formatted like this:
@@ -103,7 +104,7 @@ void TSetOfMetricMapInitializers::loadFromConfigFile(
 			mi->loadFromConfigFile(ini, sMapSectionsPrefix);
 
 			// Add the params to the list:
-			this->push_back(TMetricMapInitializer::Ptr(mi));
+			this->push_back(mi);
 		}
 
 	}  // end for each map kind
diff --git a/libs/obs/src/TMetricMapTypesRegistry.cpp b/libs/obs/src/TMetricMapTypesRegistry.cpp
index bff5a65244..f4604a018b 100644
--- a/libs/obs/src/TMetricMapTypesRegistry.cpp
+++ b/libs/obs/src/TMetricMapTypesRegistry.cpp
@@ -45,16 +45,15 @@ size_t TMetricMapTypesRegistry::doRegister(
 	mrpt::system::tokenize(names, " \t\r\n,", lstNames);
 	for (const auto& lstName : lstNames)
 	{
-		const auto p = std::make_pair(func1, func2);
-		m_registry[lstName] = p;
+		m_registry[lstName] = {func1, func2};
 		// register also the version without the "mrpt::NS::" prefix, for
 		// backwards compatibility:
-		m_registry[stripNamespace(lstName)] = p;
+		m_registry[stripNamespace(lstName)] = {func1, func2};
 	}
 	return m_registry.size();
 }
 
-mrpt::maps::TMetricMapInitializer*
+mrpt::maps::TMetricMapInitializer::Ptr
 	TMetricMapTypesRegistry::factoryMapDefinition(
 		const std::string& className) const
 {
@@ -64,12 +63,13 @@ mrpt::maps::TMetricMapInitializer*
 	if (it == m_registry.end()) it = m_registry.find(stripNamespace(className));
 
 	if (it == m_registry.end()) return nullptr;
-	ASSERT_(it->second.first);
-	return (it->second.first)();
+	ASSERT_(it->second.defCtor);
+	return (it->second.defCtor)();
 }
 
-mrpt::maps::CMetricMap* TMetricMapTypesRegistry::factoryMapObjectFromDefinition(
-	const mrpt::maps::TMetricMapInitializer& mi) const
+mrpt::maps::CMetricMap::Ptr
+	TMetricMapTypesRegistry::factoryMapObjectFromDefinition(
+		const mrpt::maps::TMetricMapInitializer& mi) const
 {
 	auto it = m_registry.find(mi.getMetricMapClassType()->className);
 	if (it == m_registry.end())
@@ -80,8 +80,8 @@ mrpt::maps::CMetricMap* TMetricMapTypesRegistry::factoryMapObjectFromDefinition(
 			mi.getMetricMapClassType()->className);
 	}
 
-	ASSERT_(it->second.second);
-	mrpt::maps::CMetricMap* theMap = (it->second.second)(mi);
+	ASSERT_(it->second.mapCtor);
+	mrpt::maps::CMetricMap::Ptr theMap = (it->second.mapCtor)(mi);
 
 	// Common params for all maps:
 	theMap->genericMapParams = mi.genericMapParams;
diff --git a/libs/poses/include/mrpt/poses/CPose3DQuatPDF.h b/libs/poses/include/mrpt/poses/CPose3DQuatPDF.h
index 6a76f6011d..ca3c4572e2 100644
--- a/libs/poses/include/mrpt/poses/CPose3DQuatPDF.h
+++ b/libs/poses/include/mrpt/poses/CPose3DQuatPDF.h
@@ -59,7 +59,7 @@ class CPose3DQuatPDF
 	 * anymore.
 	 *  \sa copyFrom
 	 */
-	static CPose3DQuatPDF* createFrom2D(const CPosePDF& o);
+	static CPose3DQuatPDF::Ptr createFrom2D(const CPosePDF& o);
 
 	/** Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF */
 	virtual void inverse(CPose3DQuatPDF& o) const = 0;
diff --git a/libs/poses/src/CPose3DQuatPDF.cpp b/libs/poses/src/CPose3DQuatPDF.cpp
index cafddb5c27..2caa18789d 100644
--- a/libs/poses/src/CPose3DQuatPDF.cpp
+++ b/libs/poses/src/CPose3DQuatPDF.cpp
@@ -25,14 +25,14 @@ IMPLEMENTS_VIRTUAL_SERIALIZABLE(CPose3DQuatPDF, CSerializable, mrpt::poses)
 /*---------------------------------------------------------------
 					copyFrom2D
   ---------------------------------------------------------------*/
-CPose3DQuatPDF* CPose3DQuatPDF::createFrom2D(const CPosePDF& o)
+CPose3DQuatPDF::Ptr CPose3DQuatPDF::createFrom2D(const CPosePDF& o)
 {
 	MRPT_START
 
 	CPose3DPDFGaussian q;
 	q.copyFrom(o);
 
-	return new CPose3DQuatPDFGaussian(q);
+	return std::make_shared<CPose3DQuatPDFGaussian>(q);
 
 	MRPT_END
 }
diff --git a/libs/rtti/src/rtti_unittest.cpp b/libs/rtti/src/rtti_unittest.cpp
index d31b040b62..4e67237407 100644
--- a/libs/rtti/src/rtti_unittest.cpp
+++ b/libs/rtti/src/rtti_unittest.cpp
@@ -64,7 +64,7 @@ TEST(rtti, MyDerived1_CLASSID)
 
 	// RTTI IS_DERIVED(*)
 	{
-		auto p = mrpt::rtti::CObject::Ptr(new MyNS::MyDerived1);
+		auto p = mrpt::rtti::CObject::Ptr(std::make_shared<MyNS::MyDerived1>());
 		EXPECT_TRUE(IS_DERIVED(*p, MyNS::MyDerived1));
 		EXPECT_TRUE(IS_DERIVED(*p, mrpt::rtti::CObject));
 	}
diff --git a/libs/serialization/include/mrpt/serialization/CArchive.h b/libs/serialization/include/mrpt/serialization/CArchive.h
index 31d67dabab..ea4a5863fd 100644
--- a/libs/serialization/include/mrpt/serialization/CArchive.h
+++ b/libs/serialization/include/mrpt/serialization/CArchive.h
@@ -568,7 +568,7 @@ CArchive& operator>>(CArchive& in, std::shared_ptr<T>& pObj)
 	else
 	{
 		ASSERT_EQUAL_(expected_name, stored_name);
-		pObj.reset(new T);
+		pObj = std::make_shared<T>();
 		in >> *pObj;
 	}
 	return in;
diff --git a/libs/vision/src/maps/CLandmarksMap.cpp b/libs/vision/src/maps/CLandmarksMap.cpp
index 1943dea086..cf29137000 100644
--- a/libs/vision/src/maps/CLandmarksMap.cpp
+++ b/libs/vision/src/maps/CLandmarksMap.cpp
@@ -99,12 +99,12 @@ void CLandmarksMap::TMapDefinition::dumpToTextStream_map_specific(
 	this->likelihoodOpts.dumpToTextStream(out);
 }
 
-mrpt::maps::CMetricMap* CLandmarksMap::internal_CreateFromMapDefinition(
+mrpt::maps::CMetricMap::Ptr CLandmarksMap::internal_CreateFromMapDefinition(
 	const mrpt::maps::TMetricMapInitializer& _def)
 {
 	const CLandmarksMap::TMapDefinition& def =
 		*dynamic_cast<const CLandmarksMap::TMapDefinition*>(&_def);
-	auto* obj = new CLandmarksMap();
+	auto obj = CLandmarksMap::Create();
 
 	for (const auto& initialBeacon : def.initialBeacons)
 	{
diff --git a/python/src/mrpt/maps/CBeacon.cpp b/python/src/mrpt/maps/CBeacon.cpp
index fe6deb1367..18745ef11b 100644
--- a/python/src/mrpt/maps/CBeacon.cpp
+++ b/python/src/mrpt/maps/CBeacon.cpp
@@ -585,7 +585,7 @@ struct PyCallBack_mrpt_maps_CBeaconMap_TInsertionOptions : public mrpt::maps::CB
 	}
 };
 
-// mrpt::maps::CBeaconMap::TMapDefinition file: line:67
+// mrpt::maps::CBeaconMap::TMapDefinition file: line:85
 struct PyCallBack_mrpt_maps_CBeaconMap_TMapDefinition : public mrpt::maps::CBeaconMap::TMapDefinition {
 	using mrpt::maps::CBeaconMap::TMapDefinition::TMapDefinition;
 
@@ -737,12 +737,12 @@ void bind_mrpt_maps_CBeacon(std::function< pybind11::module &(std::string const
 			cl.def("assign", (struct mrpt::maps::CBeaconMap::TInsertionOptions & (mrpt::maps::CBeaconMap::TInsertionOptions::*)(const struct mrpt::maps::CBeaconMap::TInsertionOptions &)) &mrpt::maps::CBeaconMap::TInsertionOptions::operator=, "C++: mrpt::maps::CBeaconMap::TInsertionOptions::operator=(const struct mrpt::maps::CBeaconMap::TInsertionOptions &) --> struct mrpt::maps::CBeaconMap::TInsertionOptions &", pybind11::return_value_policy::automatic, pybind11::arg(""));
 		}
 
-		{ // mrpt::maps::CBeaconMap::TMapDefinitionBase file: line:62
+		{ // mrpt::maps::CBeaconMap::TMapDefinitionBase file: line:80
 			auto & enclosing_class = cl;
 			pybind11::class_<mrpt::maps::CBeaconMap::TMapDefinitionBase, std::shared_ptr<mrpt::maps::CBeaconMap::TMapDefinitionBase>> cl(enclosing_class, "TMapDefinitionBase", "");
 		}
 
-		{ // mrpt::maps::CBeaconMap::TMapDefinition file: line:67
+		{ // mrpt::maps::CBeaconMap::TMapDefinition file: line:85
 			auto & enclosing_class = cl;
 			pybind11::class_<mrpt::maps::CBeaconMap::TMapDefinition, std::shared_ptr<mrpt::maps::CBeaconMap::TMapDefinition>, PyCallBack_mrpt_maps_CBeaconMap_TMapDefinition, mrpt::maps::CBeaconMap::TMapDefinitionBase> cl(enclosing_class, "TMapDefinition", "");
 			cl.def( pybind11::init( [](){ return new mrpt::maps::CBeaconMap::TMapDefinition(); }, [](){ return new PyCallBack_mrpt_maps_CBeaconMap_TMapDefinition(); } ) );
diff --git a/python/src/mrpt/maps/CColouredOctoMap.cpp b/python/src/mrpt/maps/CColouredOctoMap.cpp
index 64fcaf132e..69357914cb 100644
--- a/python/src/mrpt/maps/CColouredOctoMap.cpp
+++ b/python/src/mrpt/maps/CColouredOctoMap.cpp
@@ -534,7 +534,7 @@ struct PyCallBack_mrpt_maps_CColouredOctoMap : public mrpt::maps::CColouredOctoM
 	}
 };
 
-// mrpt::maps::CColouredOctoMap::TMapDefinition file: line:67
+// mrpt::maps::CColouredOctoMap::TMapDefinition file: line:85
 struct PyCallBack_mrpt_maps_CColouredOctoMap_TMapDefinition : public mrpt::maps::CColouredOctoMap::TMapDefinition {
 	using mrpt::maps::CColouredOctoMap::TMapDefinition::TMapDefinition;
 
@@ -1137,7 +1137,7 @@ struct PyCallBack_mrpt_maps_CColouredPointsMap_TColourOptions : public mrpt::map
 	}
 };
 
-// mrpt::maps::CColouredPointsMap::TMapDefinition file: line:67
+// mrpt::maps::CColouredPointsMap::TMapDefinition file: line:85
 struct PyCallBack_mrpt_maps_CColouredPointsMap_TMapDefinition : public mrpt::maps::CColouredPointsMap::TMapDefinition {
 	using mrpt::maps::CColouredPointsMap::TMapDefinition::TMapDefinition;
 
@@ -1240,12 +1240,12 @@ void bind_mrpt_maps_CColouredOctoMap(std::function< pybind11::module &(std::stri
 		cl.def("getClampingThresMaxLog", (float (mrpt::maps::CColouredOctoMap::*)() const) &mrpt::maps::CColouredOctoMap::getClampingThresMaxLog, "C++: mrpt::maps::CColouredOctoMap::getClampingThresMaxLog() const --> float");
 		cl.def("assign", (class mrpt::maps::CColouredOctoMap & (mrpt::maps::CColouredOctoMap::*)(const class mrpt::maps::CColouredOctoMap &)) &mrpt::maps::CColouredOctoMap::operator=, "C++: mrpt::maps::CColouredOctoMap::operator=(const class mrpt::maps::CColouredOctoMap &) --> class mrpt::maps::CColouredOctoMap &", pybind11::return_value_policy::automatic, pybind11::arg(""));
 
-		{ // mrpt::maps::CColouredOctoMap::TMapDefinitionBase file: line:62
+		{ // mrpt::maps::CColouredOctoMap::TMapDefinitionBase file: line:80
 			auto & enclosing_class = cl;
 			pybind11::class_<mrpt::maps::CColouredOctoMap::TMapDefinitionBase, std::shared_ptr<mrpt::maps::CColouredOctoMap::TMapDefinitionBase>> cl(enclosing_class, "TMapDefinitionBase", "");
 		}
 
-		{ // mrpt::maps::CColouredOctoMap::TMapDefinition file: line:67
+		{ // mrpt::maps::CColouredOctoMap::TMapDefinition file: line:85
 			auto & enclosing_class = cl;
 			pybind11::class_<mrpt::maps::CColouredOctoMap::TMapDefinition, std::shared_ptr<mrpt::maps::CColouredOctoMap::TMapDefinition>, PyCallBack_mrpt_maps_CColouredOctoMap_TMapDefinition, mrpt::maps::CColouredOctoMap::TMapDefinitionBase> cl(enclosing_class, "TMapDefinition", "");
 			cl.def( pybind11::init( [](){ return new mrpt::maps::CColouredOctoMap::TMapDefinition(); }, [](){ return new PyCallBack_mrpt_maps_CColouredOctoMap_TMapDefinition(); } ) );
@@ -1312,12 +1312,12 @@ void bind_mrpt_maps_CColouredOctoMap(std::function< pybind11::module &(std::stri
 			cl.def("assign", (struct mrpt::maps::CColouredPointsMap::TColourOptions & (mrpt::maps::CColouredPointsMap::TColourOptions::*)(const struct mrpt::maps::CColouredPointsMap::TColourOptions &)) &mrpt::maps::CColouredPointsMap::TColourOptions::operator=, "C++: mrpt::maps::CColouredPointsMap::TColourOptions::operator=(const struct mrpt::maps::CColouredPointsMap::TColourOptions &) --> struct mrpt::maps::CColouredPointsMap::TColourOptions &", pybind11::return_value_policy::automatic, pybind11::arg(""));
 		}
 
-		{ // mrpt::maps::CColouredPointsMap::TMapDefinitionBase file: line:62
+		{ // mrpt::maps::CColouredPointsMap::TMapDefinitionBase file: line:80
 			auto & enclosing_class = cl;
 			pybind11::class_<mrpt::maps::CColouredPointsMap::TMapDefinitionBase, std::shared_ptr<mrpt::maps::CColouredPointsMap::TMapDefinitionBase>> cl(enclosing_class, "TMapDefinitionBase", "");
 		}
 
-		{ // mrpt::maps::CColouredPointsMap::TMapDefinition file: line:67
+		{ // mrpt::maps::CColouredPointsMap::TMapDefinition file: line:85
 			auto & enclosing_class = cl;
 			pybind11::class_<mrpt::maps::CColouredPointsMap::TMapDefinition, std::shared_ptr<mrpt::maps::CColouredPointsMap::TMapDefinition>, PyCallBack_mrpt_maps_CColouredPointsMap_TMapDefinition, mrpt::maps::CColouredPointsMap::TMapDefinitionBase> cl(enclosing_class, "TMapDefinition", "");
 			cl.def( pybind11::init( [](){ return new mrpt::maps::CColouredPointsMap::TMapDefinition(); }, [](){ return new PyCallBack_mrpt_maps_CColouredPointsMap_TMapDefinition(); } ) );
diff --git a/python/src/mrpt/maps/CGasConcentrationGridMap2D.cpp b/python/src/mrpt/maps/CGasConcentrationGridMap2D.cpp
index 8cb788b707..8c1dfcf1d9 100644
--- a/python/src/mrpt/maps/CGasConcentrationGridMap2D.cpp
+++ b/python/src/mrpt/maps/CGasConcentrationGridMap2D.cpp
@@ -508,7 +508,7 @@ struct PyCallBack_mrpt_maps_CGasConcentrationGridMap2D_TInsertionOptions : publi
 	}
 };
 
-// mrpt::maps::CGasConcentrationGridMap2D::TMapDefinition file: line:67
+// mrpt::maps::CGasConcentrationGridMap2D::TMapDefinition file: line:85
 struct PyCallBack_mrpt_maps_CGasConcentrationGridMap2D_TMapDefinition : public mrpt::maps::CGasConcentrationGridMap2D::TMapDefinition {
 	using mrpt::maps::CGasConcentrationGridMap2D::TMapDefinition::TMapDefinition;
 
@@ -625,12 +625,12 @@ void bind_mrpt_maps_CGasConcentrationGridMap2D(std::function< pybind11::module &
 			cl.def("assign", (struct mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable & (mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::*)(const struct mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable &)) &mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::operator=, "C++: mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::operator=(const struct mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable &) --> struct mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable &", pybind11::return_value_policy::automatic, pybind11::arg(""));
 		}
 
-		{ // mrpt::maps::CGasConcentrationGridMap2D::TMapDefinitionBase file: line:62
+		{ // mrpt::maps::CGasConcentrationGridMap2D::TMapDefinitionBase file: line:80
 			auto & enclosing_class = cl;
 			pybind11::class_<mrpt::maps::CGasConcentrationGridMap2D::TMapDefinitionBase, std::shared_ptr<mrpt::maps::CGasConcentrationGridMap2D::TMapDefinitionBase>> cl(enclosing_class, "TMapDefinitionBase", "");
 		}
 
-		{ // mrpt::maps::CGasConcentrationGridMap2D::TMapDefinition file: line:67
+		{ // mrpt::maps::CGasConcentrationGridMap2D::TMapDefinition file: line:85
 			auto & enclosing_class = cl;
 			pybind11::class_<mrpt::maps::CGasConcentrationGridMap2D::TMapDefinition, std::shared_ptr<mrpt::maps::CGasConcentrationGridMap2D::TMapDefinition>, PyCallBack_mrpt_maps_CGasConcentrationGridMap2D_TMapDefinition, mrpt::maps::CGasConcentrationGridMap2D::TMapDefinitionBase> cl(enclosing_class, "TMapDefinition", "");
 			cl.def( pybind11::init( [](){ return new mrpt::maps::CGasConcentrationGridMap2D::TMapDefinition(); }, [](){ return new PyCallBack_mrpt_maps_CGasConcentrationGridMap2D_TMapDefinition(); } ) );
diff --git a/python/src/mrpt/maps/CHeightGridMap2D_Base.cpp b/python/src/mrpt/maps/CHeightGridMap2D_Base.cpp
index b398b02b0c..6b186ccc6f 100644
--- a/python/src/mrpt/maps/CHeightGridMap2D_Base.cpp
+++ b/python/src/mrpt/maps/CHeightGridMap2D_Base.cpp
@@ -583,7 +583,7 @@ struct PyCallBack_mrpt_maps_CHeightGridMap2D_TInsertionOptions : public mrpt::ma
 	}
 };
 
-// mrpt::maps::CHeightGridMap2D::TMapDefinition file: line:67
+// mrpt::maps::CHeightGridMap2D::TMapDefinition file: line:85
 struct PyCallBack_mrpt_maps_CHeightGridMap2D_TMapDefinition : public mrpt::maps::CHeightGridMap2D::TMapDefinition {
 	using mrpt::maps::CHeightGridMap2D::TMapDefinition::TMapDefinition;
 
@@ -723,12 +723,12 @@ void bind_mrpt_maps_CHeightGridMap2D_Base(std::function< pybind11::module &(std:
 			cl.def("assign", (struct mrpt::maps::CHeightGridMap2D::TInsertionOptions & (mrpt::maps::CHeightGridMap2D::TInsertionOptions::*)(const struct mrpt::maps::CHeightGridMap2D::TInsertionOptions &)) &mrpt::maps::CHeightGridMap2D::TInsertionOptions::operator=, "C++: mrpt::maps::CHeightGridMap2D::TInsertionOptions::operator=(const struct mrpt::maps::CHeightGridMap2D::TInsertionOptions &) --> struct mrpt::maps::CHeightGridMap2D::TInsertionOptions &", pybind11::return_value_policy::automatic, pybind11::arg(""));
 		}
 
-		{ // mrpt::maps::CHeightGridMap2D::TMapDefinitionBase file: line:62
+		{ // mrpt::maps::CHeightGridMap2D::TMapDefinitionBase file: line:80
 			auto & enclosing_class = cl;
 			pybind11::class_<mrpt::maps::CHeightGridMap2D::TMapDefinitionBase, std::shared_ptr<mrpt::maps::CHeightGridMap2D::TMapDefinitionBase>> cl(enclosing_class, "TMapDefinitionBase", "");
 		}
 
-		{ // mrpt::maps::CHeightGridMap2D::TMapDefinition file: line:67
+		{ // mrpt::maps::CHeightGridMap2D::TMapDefinition file: line:85
 			auto & enclosing_class = cl;
 			pybind11::class_<mrpt::maps::CHeightGridMap2D::TMapDefinition, std::shared_ptr<mrpt::maps::CHeightGridMap2D::TMapDefinition>, PyCallBack_mrpt_maps_CHeightGridMap2D_TMapDefinition, mrpt::maps::CHeightGridMap2D::TMapDefinitionBase> cl(enclosing_class, "TMapDefinition", "");
 			cl.def( pybind11::init( [](){ return new mrpt::maps::CHeightGridMap2D::TMapDefinition(); }, [](){ return new PyCallBack_mrpt_maps_CHeightGridMap2D_TMapDefinition(); } ) );
diff --git a/python/src/mrpt/maps/CHeightGridMap2D_MRF.cpp b/python/src/mrpt/maps/CHeightGridMap2D_MRF.cpp
index 12c3dbf64b..9ad25e11dc 100644
--- a/python/src/mrpt/maps/CHeightGridMap2D_MRF.cpp
+++ b/python/src/mrpt/maps/CHeightGridMap2D_MRF.cpp
@@ -587,7 +587,7 @@ struct PyCallBack_mrpt_maps_CHeightGridMap2D_MRF_TInsertionOptions : public mrpt
 	}
 };
 
-// mrpt::maps::CHeightGridMap2D_MRF::TMapDefinition file: line:67
+// mrpt::maps::CHeightGridMap2D_MRF::TMapDefinition file: line:85
 struct PyCallBack_mrpt_maps_CHeightGridMap2D_MRF_TMapDefinition : public mrpt::maps::CHeightGridMap2D_MRF::TMapDefinition {
 	using mrpt::maps::CHeightGridMap2D_MRF::TMapDefinition::TMapDefinition;
 
@@ -677,12 +677,12 @@ void bind_mrpt_maps_CHeightGridMap2D_MRF(std::function< pybind11::module &(std::
 			cl.def("assign", (struct mrpt::maps::CHeightGridMap2D_MRF::TInsertionOptions & (mrpt::maps::CHeightGridMap2D_MRF::TInsertionOptions::*)(const struct mrpt::maps::CHeightGridMap2D_MRF::TInsertionOptions &)) &mrpt::maps::CHeightGridMap2D_MRF::TInsertionOptions::operator=, "C++: mrpt::maps::CHeightGridMap2D_MRF::TInsertionOptions::operator=(const struct mrpt::maps::CHeightGridMap2D_MRF::TInsertionOptions &) --> struct mrpt::maps::CHeightGridMap2D_MRF::TInsertionOptions &", pybind11::return_value_policy::automatic, pybind11::arg(""));
 		}
 
-		{ // mrpt::maps::CHeightGridMap2D_MRF::TMapDefinitionBase file: line:62
+		{ // mrpt::maps::CHeightGridMap2D_MRF::TMapDefinitionBase file: line:80
 			auto & enclosing_class = cl;
 			pybind11::class_<mrpt::maps::CHeightGridMap2D_MRF::TMapDefinitionBase, std::shared_ptr<mrpt::maps::CHeightGridMap2D_MRF::TMapDefinitionBase>> cl(enclosing_class, "TMapDefinitionBase", "");
 		}
 
-		{ // mrpt::maps::CHeightGridMap2D_MRF::TMapDefinition file: line:67
+		{ // mrpt::maps::CHeightGridMap2D_MRF::TMapDefinition file: line:85
 			auto & enclosing_class = cl;
 			pybind11::class_<mrpt::maps::CHeightGridMap2D_MRF::TMapDefinition, std::shared_ptr<mrpt::maps::CHeightGridMap2D_MRF::TMapDefinition>, PyCallBack_mrpt_maps_CHeightGridMap2D_MRF_TMapDefinition, mrpt::maps::CHeightGridMap2D_MRF::TMapDefinitionBase> cl(enclosing_class, "TMapDefinition", "");
 			cl.def( pybind11::init( [](){ return new mrpt::maps::CHeightGridMap2D_MRF::TMapDefinition(); }, [](){ return new PyCallBack_mrpt_maps_CHeightGridMap2D_MRF_TMapDefinition(); } ) );
diff --git a/python/src/mrpt/maps/CLandmarksMap.cpp b/python/src/mrpt/maps/CLandmarksMap.cpp
index 9bd68adfab..5a5dc8fcb9 100644
--- a/python/src/mrpt/maps/CLandmarksMap.cpp
+++ b/python/src/mrpt/maps/CLandmarksMap.cpp
@@ -390,7 +390,7 @@ struct PyCallBack_mrpt_maps_CLandmarksMap_TLikelihoodOptions : public mrpt::maps
 	}
 };
 
-// mrpt::maps::CLandmarksMap::TMapDefinition file: line:67
+// mrpt::maps::CLandmarksMap::TMapDefinition file: line:85
 struct PyCallBack_mrpt_maps_CLandmarksMap_TMapDefinition : public mrpt::maps::CLandmarksMap::TMapDefinition {
 	using mrpt::maps::CLandmarksMap::TMapDefinition::TMapDefinition;
 
@@ -583,12 +583,12 @@ void bind_mrpt_maps_CLandmarksMap(std::function< pybind11::module &(std::string
 			cl.def("assign", (struct mrpt::maps::CLandmarksMap::TFuseOptions & (mrpt::maps::CLandmarksMap::TFuseOptions::*)(const struct mrpt::maps::CLandmarksMap::TFuseOptions &)) &mrpt::maps::CLandmarksMap::TFuseOptions::operator=, "C++: mrpt::maps::CLandmarksMap::TFuseOptions::operator=(const struct mrpt::maps::CLandmarksMap::TFuseOptions &) --> struct mrpt::maps::CLandmarksMap::TFuseOptions &", pybind11::return_value_policy::automatic, pybind11::arg(""));
 		}
 
-		{ // mrpt::maps::CLandmarksMap::TMapDefinitionBase file: line:62
+		{ // mrpt::maps::CLandmarksMap::TMapDefinitionBase file: line:80
 			auto & enclosing_class = cl;
 			pybind11::class_<mrpt::maps::CLandmarksMap::TMapDefinitionBase, std::shared_ptr<mrpt::maps::CLandmarksMap::TMapDefinitionBase>> cl(enclosing_class, "TMapDefinitionBase", "");
 		}
 
-		{ // mrpt::maps::CLandmarksMap::TMapDefinition file: line:67
+		{ // mrpt::maps::CLandmarksMap::TMapDefinition file: line:85
 			auto & enclosing_class = cl;
 			pybind11::class_<mrpt::maps::CLandmarksMap::TMapDefinition, std::shared_ptr<mrpt::maps::CLandmarksMap::TMapDefinition>, PyCallBack_mrpt_maps_CLandmarksMap_TMapDefinition, mrpt::maps::CLandmarksMap::TMapDefinitionBase> cl(enclosing_class, "TMapDefinition", "");
 			cl.def( pybind11::init( [](){ return new mrpt::maps::CLandmarksMap::TMapDefinition(); }, [](){ return new PyCallBack_mrpt_maps_CLandmarksMap_TMapDefinition(); } ) );
diff --git a/python/src/mrpt/maps/COccupancyGridMap2D.cpp b/python/src/mrpt/maps/COccupancyGridMap2D.cpp
index f9ff15c651..e6e7c25944 100644
--- a/python/src/mrpt/maps/COccupancyGridMap2D.cpp
+++ b/python/src/mrpt/maps/COccupancyGridMap2D.cpp
@@ -453,7 +453,7 @@ struct PyCallBack_mrpt_maps_COccupancyGridMap2D_TLikelihoodOptions : public mrpt
 	}
 };
 
-// mrpt::maps::COccupancyGridMap2D::TMapDefinition file: line:67
+// mrpt::maps::COccupancyGridMap2D::TMapDefinition file: line:85
 struct PyCallBack_mrpt_maps_COccupancyGridMap2D_TMapDefinition : public mrpt::maps::COccupancyGridMap2D::TMapDefinition {
 	using mrpt::maps::COccupancyGridMap2D::TMapDefinition::TMapDefinition;
 
@@ -769,12 +769,12 @@ void bind_mrpt_maps_COccupancyGridMap2D(std::function< pybind11::module &(std::s
 			cl.def("assign", (struct mrpt::maps::COccupancyGridMap2D::TCriticalPointsList & (mrpt::maps::COccupancyGridMap2D::TCriticalPointsList::*)(const struct mrpt::maps::COccupancyGridMap2D::TCriticalPointsList &)) &mrpt::maps::COccupancyGridMap2D::TCriticalPointsList::operator=, "C++: mrpt::maps::COccupancyGridMap2D::TCriticalPointsList::operator=(const struct mrpt::maps::COccupancyGridMap2D::TCriticalPointsList &) --> struct mrpt::maps::COccupancyGridMap2D::TCriticalPointsList &", pybind11::return_value_policy::automatic, pybind11::arg(""));
 		}
 
-		{ // mrpt::maps::COccupancyGridMap2D::TMapDefinitionBase file: line:62
+		{ // mrpt::maps::COccupancyGridMap2D::TMapDefinitionBase file: line:80
 			auto & enclosing_class = cl;
 			pybind11::class_<mrpt::maps::COccupancyGridMap2D::TMapDefinitionBase, std::shared_ptr<mrpt::maps::COccupancyGridMap2D::TMapDefinitionBase>> cl(enclosing_class, "TMapDefinitionBase", "");
 		}
 
-		{ // mrpt::maps::COccupancyGridMap2D::TMapDefinition file: line:67
+		{ // mrpt::maps::COccupancyGridMap2D::TMapDefinition file: line:85
 			auto & enclosing_class = cl;
 			pybind11::class_<mrpt::maps::COccupancyGridMap2D::TMapDefinition, std::shared_ptr<mrpt::maps::COccupancyGridMap2D::TMapDefinition>, PyCallBack_mrpt_maps_COccupancyGridMap2D_TMapDefinition, mrpt::maps::COccupancyGridMap2D::TMapDefinitionBase> cl(enclosing_class, "TMapDefinition", "");
 			cl.def( pybind11::init( [](){ return new mrpt::maps::COccupancyGridMap2D::TMapDefinition(); }, [](){ return new PyCallBack_mrpt_maps_COccupancyGridMap2D_TMapDefinition(); } ) );
diff --git a/python/src/mrpt/maps/COccupancyGridMap3D.cpp b/python/src/mrpt/maps/COccupancyGridMap3D.cpp
index 579c80a3c5..7a271082ac 100644
--- a/python/src/mrpt/maps/COccupancyGridMap3D.cpp
+++ b/python/src/mrpt/maps/COccupancyGridMap3D.cpp
@@ -446,7 +446,7 @@ struct PyCallBack_mrpt_maps_COccupancyGridMap3D_TLikelihoodOptions : public mrpt
 	}
 };
 
-// mrpt::maps::COccupancyGridMap3D::TMapDefinition file: line:67
+// mrpt::maps::COccupancyGridMap3D::TMapDefinition file: line:85
 struct PyCallBack_mrpt_maps_COccupancyGridMap3D_TMapDefinition : public mrpt::maps::COccupancyGridMap3D::TMapDefinition {
 	using mrpt::maps::COccupancyGridMap3D::TMapDefinition::TMapDefinition;
 
@@ -598,12 +598,12 @@ void bind_mrpt_maps_COccupancyGridMap3D(std::function< pybind11::module &(std::s
 			cl.def("assign", (struct mrpt::maps::COccupancyGridMap3D::TRenderingOptions & (mrpt::maps::COccupancyGridMap3D::TRenderingOptions::*)(const struct mrpt::maps::COccupancyGridMap3D::TRenderingOptions &)) &mrpt::maps::COccupancyGridMap3D::TRenderingOptions::operator=, "C++: mrpt::maps::COccupancyGridMap3D::TRenderingOptions::operator=(const struct mrpt::maps::COccupancyGridMap3D::TRenderingOptions &) --> struct mrpt::maps::COccupancyGridMap3D::TRenderingOptions &", pybind11::return_value_policy::automatic, pybind11::arg(""));
 		}
 
-		{ // mrpt::maps::COccupancyGridMap3D::TMapDefinitionBase file: line:62
+		{ // mrpt::maps::COccupancyGridMap3D::TMapDefinitionBase file: line:80
 			auto & enclosing_class = cl;
 			pybind11::class_<mrpt::maps::COccupancyGridMap3D::TMapDefinitionBase, std::shared_ptr<mrpt::maps::COccupancyGridMap3D::TMapDefinitionBase>> cl(enclosing_class, "TMapDefinitionBase", "");
 		}
 
-		{ // mrpt::maps::COccupancyGridMap3D::TMapDefinition file: line:67
+		{ // mrpt::maps::COccupancyGridMap3D::TMapDefinition file: line:85
 			auto & enclosing_class = cl;
 			pybind11::class_<mrpt::maps::COccupancyGridMap3D::TMapDefinition, std::shared_ptr<mrpt::maps::COccupancyGridMap3D::TMapDefinition>, PyCallBack_mrpt_maps_COccupancyGridMap3D_TMapDefinition, mrpt::maps::COccupancyGridMap3D::TMapDefinitionBase> cl(enclosing_class, "TMapDefinition", "");
 			cl.def( pybind11::init( [](){ return new mrpt::maps::COccupancyGridMap3D::TMapDefinition(); }, [](){ return new PyCallBack_mrpt_maps_COccupancyGridMap3D_TMapDefinition(); } ) );
diff --git a/python/src/mrpt/maps/COctoMap.cpp b/python/src/mrpt/maps/COctoMap.cpp
index aaf6de25a4..67a8016c31 100644
--- a/python/src/mrpt/maps/COctoMap.cpp
+++ b/python/src/mrpt/maps/COctoMap.cpp
@@ -533,7 +533,7 @@ struct PyCallBack_mrpt_maps_COctoMap : public mrpt::maps::COctoMap {
 	}
 };
 
-// mrpt::maps::COctoMap::TMapDefinition file: line:67
+// mrpt::maps::COctoMap::TMapDefinition file: line:85
 struct PyCallBack_mrpt_maps_COctoMap_TMapDefinition : public mrpt::maps::COctoMap::TMapDefinition {
 	using mrpt::maps::COctoMap::TMapDefinition::TMapDefinition;
 
@@ -1136,7 +1136,7 @@ struct PyCallBack_mrpt_maps_CSimplePointsMap : public mrpt::maps::CSimplePointsM
 	}
 };
 
-// mrpt::maps::CSimplePointsMap::TMapDefinition file: line:67
+// mrpt::maps::CSimplePointsMap::TMapDefinition file: line:85
 struct PyCallBack_mrpt_maps_CSimplePointsMap_TMapDefinition : public mrpt::maps::CSimplePointsMap::TMapDefinition {
 	using mrpt::maps::CSimplePointsMap::TMapDefinition::TMapDefinition;
 
@@ -1228,12 +1228,12 @@ void bind_mrpt_maps_COctoMap(std::function< pybind11::module &(std::string const
 		cl.def("getClampingThresMaxLog", (float (mrpt::maps::COctoMap::*)() const) &mrpt::maps::COctoMap::getClampingThresMaxLog, "C++: mrpt::maps::COctoMap::getClampingThresMaxLog() const --> float");
 		cl.def("assign", (class mrpt::maps::COctoMap & (mrpt::maps::COctoMap::*)(const class mrpt::maps::COctoMap &)) &mrpt::maps::COctoMap::operator=, "C++: mrpt::maps::COctoMap::operator=(const class mrpt::maps::COctoMap &) --> class mrpt::maps::COctoMap &", pybind11::return_value_policy::automatic, pybind11::arg(""));
 
-		{ // mrpt::maps::COctoMap::TMapDefinitionBase file: line:62
+		{ // mrpt::maps::COctoMap::TMapDefinitionBase file: line:80
 			auto & enclosing_class = cl;
 			pybind11::class_<mrpt::maps::COctoMap::TMapDefinitionBase, std::shared_ptr<mrpt::maps::COctoMap::TMapDefinitionBase>> cl(enclosing_class, "TMapDefinitionBase", "");
 		}
 
-		{ // mrpt::maps::COctoMap::TMapDefinition file: line:67
+		{ // mrpt::maps::COctoMap::TMapDefinition file: line:85
 			auto & enclosing_class = cl;
 			pybind11::class_<mrpt::maps::COctoMap::TMapDefinition, std::shared_ptr<mrpt::maps::COctoMap::TMapDefinition>, PyCallBack_mrpt_maps_COctoMap_TMapDefinition, mrpt::maps::COctoMap::TMapDefinitionBase> cl(enclosing_class, "TMapDefinition", "");
 			cl.def( pybind11::init( [](){ return new mrpt::maps::COctoMap::TMapDefinition(); }, [](){ return new PyCallBack_mrpt_maps_COctoMap_TMapDefinition(); } ) );
@@ -1282,12 +1282,12 @@ void bind_mrpt_maps_COctoMap(std::function< pybind11::module &(std::string const
 		cl.def("insertPointFast", (void (mrpt::maps::CSimplePointsMap::*)(float, float, float)) &mrpt::maps::CSimplePointsMap::insertPointFast, "The virtual method for  *without* calling\n mark_as_modified()   \n\nC++: mrpt::maps::CSimplePointsMap::insertPointFast(float, float, float) --> void", pybind11::arg("x"), pybind11::arg("y"), pybind11::arg("z"));
 		cl.def("getAsSimplePointsMap", (const class mrpt::maps::CSimplePointsMap * (mrpt::maps::CSimplePointsMap::*)() const) &mrpt::maps::CSimplePointsMap::getAsSimplePointsMap, "@} \n\nC++: mrpt::maps::CSimplePointsMap::getAsSimplePointsMap() const --> const class mrpt::maps::CSimplePointsMap *", pybind11::return_value_policy::automatic);
 
-		{ // mrpt::maps::CSimplePointsMap::TMapDefinitionBase file: line:62
+		{ // mrpt::maps::CSimplePointsMap::TMapDefinitionBase file: line:80
 			auto & enclosing_class = cl;
 			pybind11::class_<mrpt::maps::CSimplePointsMap::TMapDefinitionBase, std::shared_ptr<mrpt::maps::CSimplePointsMap::TMapDefinitionBase>> cl(enclosing_class, "TMapDefinitionBase", "");
 		}
 
-		{ // mrpt::maps::CSimplePointsMap::TMapDefinition file: line:67
+		{ // mrpt::maps::CSimplePointsMap::TMapDefinition file: line:85
 			auto & enclosing_class = cl;
 			pybind11::class_<mrpt::maps::CSimplePointsMap::TMapDefinition, std::shared_ptr<mrpt::maps::CSimplePointsMap::TMapDefinition>, PyCallBack_mrpt_maps_CSimplePointsMap_TMapDefinition, mrpt::maps::CSimplePointsMap::TMapDefinitionBase> cl(enclosing_class, "TMapDefinition", "");
 			cl.def( pybind11::init( [](){ return new mrpt::maps::CSimplePointsMap::TMapDefinition(); }, [](){ return new PyCallBack_mrpt_maps_CSimplePointsMap_TMapDefinition(); } ) );
diff --git a/python/src/mrpt/maps/CPointCloudFilterByDistance.cpp b/python/src/mrpt/maps/CPointCloudFilterByDistance.cpp
index d4a317511a..53a2c31ed3 100644
--- a/python/src/mrpt/maps/CPointCloudFilterByDistance.cpp
+++ b/python/src/mrpt/maps/CPointCloudFilterByDistance.cpp
@@ -674,7 +674,7 @@ struct PyCallBack_mrpt_maps_CPointsMapXYZI : public mrpt::maps::CPointsMapXYZI {
 	}
 };
 
-// mrpt::maps::CPointsMapXYZI::TMapDefinition file: line:67
+// mrpt::maps::CPointsMapXYZI::TMapDefinition file: line:85
 struct PyCallBack_mrpt_maps_CPointsMapXYZI_TMapDefinition : public mrpt::maps::CPointsMapXYZI::TMapDefinition {
 	using mrpt::maps::CPointsMapXYZI::TMapDefinition::TMapDefinition;
 
@@ -780,12 +780,12 @@ void bind_mrpt_maps_CPointCloudFilterByDistance(std::function< pybind11::module
 		cl.def("hasColorPoints", (bool (mrpt::maps::CPointsMapXYZI::*)() const) &mrpt::maps::CPointsMapXYZI::hasColorPoints, "Returns true if the point map has a color field for each point \n\nC++: mrpt::maps::CPointsMapXYZI::hasColorPoints() const --> bool");
 		cl.def("getVisualizationInto", (void (mrpt::maps::CPointsMapXYZI::*)(class mrpt::opengl::CSetOfObjects &) const) &mrpt::maps::CPointsMapXYZI::getVisualizationInto, "Override of the default 3D scene builder to account for the individual\n points' color.\n\nC++: mrpt::maps::CPointsMapXYZI::getVisualizationInto(class mrpt::opengl::CSetOfObjects &) const --> void", pybind11::arg("outObj"));
 
-		{ // mrpt::maps::CPointsMapXYZI::TMapDefinitionBase file: line:62
+		{ // mrpt::maps::CPointsMapXYZI::TMapDefinitionBase file: line:80
 			auto & enclosing_class = cl;
 			pybind11::class_<mrpt::maps::CPointsMapXYZI::TMapDefinitionBase, std::shared_ptr<mrpt::maps::CPointsMapXYZI::TMapDefinitionBase>> cl(enclosing_class, "TMapDefinitionBase", "");
 		}
 
-		{ // mrpt::maps::CPointsMapXYZI::TMapDefinition file: line:67
+		{ // mrpt::maps::CPointsMapXYZI::TMapDefinition file: line:85
 			auto & enclosing_class = cl;
 			pybind11::class_<mrpt::maps::CPointsMapXYZI::TMapDefinition, std::shared_ptr<mrpt::maps::CPointsMapXYZI::TMapDefinition>, PyCallBack_mrpt_maps_CPointsMapXYZI_TMapDefinition, mrpt::maps::CPointsMapXYZI::TMapDefinitionBase> cl(enclosing_class, "TMapDefinition", "");
 			cl.def( pybind11::init( [](){ return new mrpt::maps::CPointsMapXYZI::TMapDefinition(); }, [](){ return new PyCallBack_mrpt_maps_CPointsMapXYZI_TMapDefinition(); } ) );
diff --git a/python/src/mrpt/maps/CReflectivityGridMap2D.cpp b/python/src/mrpt/maps/CReflectivityGridMap2D.cpp
index 918619c56d..8b5a2b8185 100644
--- a/python/src/mrpt/maps/CReflectivityGridMap2D.cpp
+++ b/python/src/mrpt/maps/CReflectivityGridMap2D.cpp
@@ -398,7 +398,7 @@ struct PyCallBack_mrpt_maps_CReflectivityGridMap2D_TInsertionOptions : public mr
 	}
 };
 
-// mrpt::maps::CReflectivityGridMap2D::TMapDefinition file: line:67
+// mrpt::maps::CReflectivityGridMap2D::TMapDefinition file: line:85
 struct PyCallBack_mrpt_maps_CReflectivityGridMap2D_TMapDefinition : public mrpt::maps::CReflectivityGridMap2D::TMapDefinition {
 	using mrpt::maps::CReflectivityGridMap2D::TMapDefinition::TMapDefinition;
 
@@ -969,7 +969,7 @@ struct PyCallBack_mrpt_maps_CWeightedPointsMap : public mrpt::maps::CWeightedPoi
 	}
 };
 
-// mrpt::maps::CWeightedPointsMap::TMapDefinition file: line:67
+// mrpt::maps::CWeightedPointsMap::TMapDefinition file: line:85
 struct PyCallBack_mrpt_maps_CWeightedPointsMap_TMapDefinition : public mrpt::maps::CWeightedPointsMap::TMapDefinition {
 	using mrpt::maps::CWeightedPointsMap::TMapDefinition::TMapDefinition;
 
@@ -1055,12 +1055,12 @@ void bind_mrpt_maps_CReflectivityGridMap2D(std::function< pybind11::module &(std
 			cl.def("assign", (struct mrpt::maps::CReflectivityGridMap2D::TInsertionOptions & (mrpt::maps::CReflectivityGridMap2D::TInsertionOptions::*)(const struct mrpt::maps::CReflectivityGridMap2D::TInsertionOptions &)) &mrpt::maps::CReflectivityGridMap2D::TInsertionOptions::operator=, "C++: mrpt::maps::CReflectivityGridMap2D::TInsertionOptions::operator=(const struct mrpt::maps::CReflectivityGridMap2D::TInsertionOptions &) --> struct mrpt::maps::CReflectivityGridMap2D::TInsertionOptions &", pybind11::return_value_policy::automatic, pybind11::arg(""));
 		}
 
-		{ // mrpt::maps::CReflectivityGridMap2D::TMapDefinitionBase file: line:62
+		{ // mrpt::maps::CReflectivityGridMap2D::TMapDefinitionBase file: line:80
 			auto & enclosing_class = cl;
 			pybind11::class_<mrpt::maps::CReflectivityGridMap2D::TMapDefinitionBase, std::shared_ptr<mrpt::maps::CReflectivityGridMap2D::TMapDefinitionBase>> cl(enclosing_class, "TMapDefinitionBase", "");
 		}
 
-		{ // mrpt::maps::CReflectivityGridMap2D::TMapDefinition file: line:67
+		{ // mrpt::maps::CReflectivityGridMap2D::TMapDefinition file: line:85
 			auto & enclosing_class = cl;
 			pybind11::class_<mrpt::maps::CReflectivityGridMap2D::TMapDefinition, std::shared_ptr<mrpt::maps::CReflectivityGridMap2D::TMapDefinition>, PyCallBack_mrpt_maps_CReflectivityGridMap2D_TMapDefinition, mrpt::maps::CReflectivityGridMap2D::TMapDefinitionBase> cl(enclosing_class, "TMapDefinition", "");
 			cl.def( pybind11::init( [](){ return new mrpt::maps::CReflectivityGridMap2D::TMapDefinition(); }, [](){ return new PyCallBack_mrpt_maps_CReflectivityGridMap2D_TMapDefinition(); } ) );
@@ -1094,12 +1094,12 @@ void bind_mrpt_maps_CReflectivityGridMap2D(std::function< pybind11::module &(std
 		cl.def("setPointWeight", (void (mrpt::maps::CWeightedPointsMap::*)(size_t, unsigned long)) &mrpt::maps::CWeightedPointsMap::setPointWeight, "Sets the point weight, which is ignored in all classes but those which\n actually store that field (Note: No checks are done for out-of-bounds\n index). \n\n getPointWeight\n\nC++: mrpt::maps::CWeightedPointsMap::setPointWeight(size_t, unsigned long) --> void", pybind11::arg("index"), pybind11::arg("w"));
 		cl.def("getPointWeight", (unsigned int (mrpt::maps::CWeightedPointsMap::*)(size_t) const) &mrpt::maps::CWeightedPointsMap::getPointWeight, "Gets the point weight, which is ignored in all classes (defaults to 1)\n but in those which actually store that field (Note: No checks are done\n for out-of-bounds index).  \n\n setPointWeight\n\nC++: mrpt::maps::CWeightedPointsMap::getPointWeight(size_t) const --> unsigned int", pybind11::arg("index"));
 
-		{ // mrpt::maps::CWeightedPointsMap::TMapDefinitionBase file: line:62
+		{ // mrpt::maps::CWeightedPointsMap::TMapDefinitionBase file: line:80
 			auto & enclosing_class = cl;
 			pybind11::class_<mrpt::maps::CWeightedPointsMap::TMapDefinitionBase, std::shared_ptr<mrpt::maps::CWeightedPointsMap::TMapDefinitionBase>> cl(enclosing_class, "TMapDefinitionBase", "");
 		}
 
-		{ // mrpt::maps::CWeightedPointsMap::TMapDefinition file: line:67
+		{ // mrpt::maps::CWeightedPointsMap::TMapDefinition file: line:85
 			auto & enclosing_class = cl;
 			pybind11::class_<mrpt::maps::CWeightedPointsMap::TMapDefinition, std::shared_ptr<mrpt::maps::CWeightedPointsMap::TMapDefinition>, PyCallBack_mrpt_maps_CWeightedPointsMap_TMapDefinition, mrpt::maps::CWeightedPointsMap::TMapDefinitionBase> cl(enclosing_class, "TMapDefinition", "");
 			cl.def( pybind11::init( [](){ return new mrpt::maps::CWeightedPointsMap::TMapDefinition(); }, [](){ return new PyCallBack_mrpt_maps_CWeightedPointsMap_TMapDefinition(); } ) );
diff --git a/python/src/mrpt/maps/CVoxelMap.cpp b/python/src/mrpt/maps/CVoxelMap.cpp
index 60f6c61eaf..1ba095dce0 100644
--- a/python/src/mrpt/maps/CVoxelMap.cpp
+++ b/python/src/mrpt/maps/CVoxelMap.cpp
@@ -396,7 +396,7 @@ struct PyCallBack_mrpt_maps_CVoxelMap : public mrpt::maps::CVoxelMap {
 	}
 };
 
-// mrpt::maps::CVoxelMap::TMapDefinition file: line:67
+// mrpt::maps::CVoxelMap::TMapDefinition file: line:85
 struct PyCallBack_mrpt_maps_CVoxelMap_TMapDefinition : public mrpt::maps::CVoxelMap::TMapDefinition {
 	using mrpt::maps::CVoxelMap::TMapDefinition::TMapDefinition;
 
@@ -746,7 +746,7 @@ struct PyCallBack_mrpt_maps_CVoxelMapRGB : public mrpt::maps::CVoxelMapRGB {
 	}
 };
 
-// mrpt::maps::CVoxelMapRGB::TMapDefinition file: line:67
+// mrpt::maps::CVoxelMapRGB::TMapDefinition file: line:85
 struct PyCallBack_mrpt_maps_CVoxelMapRGB_TMapDefinition : public mrpt::maps::CVoxelMapRGB::TMapDefinition {
 	using mrpt::maps::CVoxelMapRGB::TMapDefinition::TMapDefinition;
 
@@ -814,12 +814,12 @@ void bind_mrpt_maps_CVoxelMap(std::function< pybind11::module &(std::string cons
 		cl.def_static("CreateObject", (class std::shared_ptr<class mrpt::rtti::CObject> (*)()) &mrpt::maps::CVoxelMap::CreateObject, "C++: mrpt::maps::CVoxelMap::CreateObject() --> class std::shared_ptr<class mrpt::rtti::CObject>");
 		cl.def("assign", (class mrpt::maps::CVoxelMap & (mrpt::maps::CVoxelMap::*)(const class mrpt::maps::CVoxelMap &)) &mrpt::maps::CVoxelMap::operator=, "C++: mrpt::maps::CVoxelMap::operator=(const class mrpt::maps::CVoxelMap &) --> class mrpt::maps::CVoxelMap &", pybind11::return_value_policy::automatic, pybind11::arg(""));
 
-		{ // mrpt::maps::CVoxelMap::TMapDefinitionBase file: line:62
+		{ // mrpt::maps::CVoxelMap::TMapDefinitionBase file: line:80
 			auto & enclosing_class = cl;
 			pybind11::class_<mrpt::maps::CVoxelMap::TMapDefinitionBase, std::shared_ptr<mrpt::maps::CVoxelMap::TMapDefinitionBase>> cl(enclosing_class, "TMapDefinitionBase", "");
 		}
 
-		{ // mrpt::maps::CVoxelMap::TMapDefinition file: line:67
+		{ // mrpt::maps::CVoxelMap::TMapDefinition file: line:85
 			auto & enclosing_class = cl;
 			pybind11::class_<mrpt::maps::CVoxelMap::TMapDefinition, std::shared_ptr<mrpt::maps::CVoxelMap::TMapDefinition>, PyCallBack_mrpt_maps_CVoxelMap_TMapDefinition, mrpt::maps::CVoxelMap::TMapDefinitionBase> cl(enclosing_class, "TMapDefinition", "");
 			cl.def( pybind11::init( [](){ return new mrpt::maps::CVoxelMap::TMapDefinition(); }, [](){ return new PyCallBack_mrpt_maps_CVoxelMap_TMapDefinition(); } ) );
@@ -866,12 +866,12 @@ void bind_mrpt_maps_CVoxelMap(std::function< pybind11::module &(std::string cons
 		cl.def_static("CreateObject", (class std::shared_ptr<class mrpt::rtti::CObject> (*)()) &mrpt::maps::CVoxelMapRGB::CreateObject, "C++: mrpt::maps::CVoxelMapRGB::CreateObject() --> class std::shared_ptr<class mrpt::rtti::CObject>");
 		cl.def("assign", (class mrpt::maps::CVoxelMapRGB & (mrpt::maps::CVoxelMapRGB::*)(const class mrpt::maps::CVoxelMapRGB &)) &mrpt::maps::CVoxelMapRGB::operator=, "C++: mrpt::maps::CVoxelMapRGB::operator=(const class mrpt::maps::CVoxelMapRGB &) --> class mrpt::maps::CVoxelMapRGB &", pybind11::return_value_policy::automatic, pybind11::arg(""));
 
-		{ // mrpt::maps::CVoxelMapRGB::TMapDefinitionBase file: line:62
+		{ // mrpt::maps::CVoxelMapRGB::TMapDefinitionBase file: line:80
 			auto & enclosing_class = cl;
 			pybind11::class_<mrpt::maps::CVoxelMapRGB::TMapDefinitionBase, std::shared_ptr<mrpt::maps::CVoxelMapRGB::TMapDefinitionBase>> cl(enclosing_class, "TMapDefinitionBase", "");
 		}
 
-		{ // mrpt::maps::CVoxelMapRGB::TMapDefinition file: line:67
+		{ // mrpt::maps::CVoxelMapRGB::TMapDefinition file: line:85
 			auto & enclosing_class = cl;
 			pybind11::class_<mrpt::maps::CVoxelMapRGB::TMapDefinition, std::shared_ptr<mrpt::maps::CVoxelMapRGB::TMapDefinition>, PyCallBack_mrpt_maps_CVoxelMapRGB_TMapDefinition, mrpt::maps::CVoxelMapRGB::TMapDefinitionBase> cl(enclosing_class, "TMapDefinition", "");
 			cl.def( pybind11::init( [](){ return new mrpt::maps::CVoxelMapRGB::TMapDefinition(); }, [](){ return new PyCallBack_mrpt_maps_CVoxelMapRGB_TMapDefinition(); } ) );
diff --git a/python/src/mrpt/maps/CWirelessPowerGridMap2D.cpp b/python/src/mrpt/maps/CWirelessPowerGridMap2D.cpp
index 05c473597e..0f9d9bbd61 100644
--- a/python/src/mrpt/maps/CWirelessPowerGridMap2D.cpp
+++ b/python/src/mrpt/maps/CWirelessPowerGridMap2D.cpp
@@ -495,7 +495,7 @@ struct PyCallBack_mrpt_maps_CWirelessPowerGridMap2D_TInsertionOptions : public m
 	}
 };
 
-// mrpt::maps::CWirelessPowerGridMap2D::TMapDefinition file: line:67
+// mrpt::maps::CWirelessPowerGridMap2D::TMapDefinition file: line:85
 struct PyCallBack_mrpt_maps_CWirelessPowerGridMap2D_TMapDefinition : public mrpt::maps::CWirelessPowerGridMap2D::TMapDefinition {
 	using mrpt::maps::CWirelessPowerGridMap2D::TMapDefinition::TMapDefinition;
 
@@ -572,12 +572,12 @@ void bind_mrpt_maps_CWirelessPowerGridMap2D(std::function< pybind11::module &(st
 			cl.def("assign", (struct mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions & (mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions::*)(const struct mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions &)) &mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions::operator=, "C++: mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions::operator=(const struct mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions &) --> struct mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions &", pybind11::return_value_policy::automatic, pybind11::arg(""));
 		}
 
-		{ // mrpt::maps::CWirelessPowerGridMap2D::TMapDefinitionBase file: line:62
+		{ // mrpt::maps::CWirelessPowerGridMap2D::TMapDefinitionBase file: line:80
 			auto & enclosing_class = cl;
 			pybind11::class_<mrpt::maps::CWirelessPowerGridMap2D::TMapDefinitionBase, std::shared_ptr<mrpt::maps::CWirelessPowerGridMap2D::TMapDefinitionBase>> cl(enclosing_class, "TMapDefinitionBase", "");
 		}
 
-		{ // mrpt::maps::CWirelessPowerGridMap2D::TMapDefinition file: line:67
+		{ // mrpt::maps::CWirelessPowerGridMap2D::TMapDefinition file: line:85
 			auto & enclosing_class = cl;
 			pybind11::class_<mrpt::maps::CWirelessPowerGridMap2D::TMapDefinition, std::shared_ptr<mrpt::maps::CWirelessPowerGridMap2D::TMapDefinition>, PyCallBack_mrpt_maps_CWirelessPowerGridMap2D_TMapDefinition, mrpt::maps::CWirelessPowerGridMap2D::TMapDefinitionBase> cl(enclosing_class, "TMapDefinition", "");
 			cl.def( pybind11::init( [](){ return new mrpt::maps::CWirelessPowerGridMap2D::TMapDefinition(); }, [](){ return new PyCallBack_mrpt_maps_CWirelessPowerGridMap2D_TMapDefinition(); } ) );
diff --git a/python/src/mrpt/nav/planners/TMoveTree.cpp b/python/src/mrpt/nav/planners/TMoveTree.cpp
index 4afdf81341..1370ac6c59 100644
--- a/python/src/mrpt/nav/planners/TMoveTree.cpp
+++ b/python/src/mrpt/nav/planners/TMoveTree.cpp
@@ -17,7 +17,6 @@
 #include <mrpt/kinematics/CVehicleVelCmd.h>
 #include <mrpt/maps/CMetricMap.h>
 #include <mrpt/maps/CPointsMap.h>
-#include <mrpt/maps/CSimpleMap.h>
 #include <mrpt/maps/CSimplePointsMap.h>
 #include <mrpt/maps/TMetricMapInitializer.h>
 #include <mrpt/maps/metric_map_types.h>
@@ -42,7 +41,6 @@
 #include <mrpt/obs/CObservation2DRangeScan.h>
 #include <mrpt/obs/CObservation3DRangeScan.h>
 #include <mrpt/obs/CObservationVelodyneScan.h>
-#include <mrpt/obs/CSensoryFrame.h>
 #include <mrpt/obs/T2DScanProperties.h>
 #include <mrpt/obs/T3DPointsTo2DScanParams.h>
 #include <mrpt/obs/TRangeImageFilter.h>
diff --git a/python/src/mrpt/nav/reactive/CReactiveNavigationSystem3D.cpp b/python/src/mrpt/nav/reactive/CReactiveNavigationSystem3D.cpp
index 3a2ea1fa42..b5633004de 100644
--- a/python/src/mrpt/nav/reactive/CReactiveNavigationSystem3D.cpp
+++ b/python/src/mrpt/nav/reactive/CReactiveNavigationSystem3D.cpp
@@ -19,7 +19,6 @@
 #include <mrpt/kinematics/CVehicleVelCmd.h>
 #include <mrpt/maps/CMetricMap.h>
 #include <mrpt/maps/CPointsMap.h>
-#include <mrpt/maps/CSimpleMap.h>
 #include <mrpt/maps/CSimplePointsMap.h>
 #include <mrpt/maps/TMetricMapInitializer.h>
 #include <mrpt/maps/metric_map_types.h>
@@ -51,7 +50,6 @@
 #include <mrpt/obs/CObservation2DRangeScan.h>
 #include <mrpt/obs/CObservation3DRangeScan.h>
 #include <mrpt/obs/CObservationVelodyneScan.h>
-#include <mrpt/obs/CSensoryFrame.h>
 #include <mrpt/obs/T2DScanProperties.h>
 #include <mrpt/obs/T3DPointsTo2DScanParams.h>
 #include <mrpt/obs/TRangeImageFilter.h>
diff --git a/python/src/mrpt/poses/CPose3DPDFSOG.cpp b/python/src/mrpt/poses/CPose3DPDFSOG.cpp
index 168b9e1d1f..1a3582710c 100644
--- a/python/src/mrpt/poses/CPose3DPDFSOG.cpp
+++ b/python/src/mrpt/poses/CPose3DPDFSOG.cpp
@@ -682,7 +682,7 @@ void bind_mrpt_poses_CPose3DPDFSOG(std::function< pybind11::module &(std::string
 		cl.def("GetRuntimeClass", (const struct mrpt::rtti::TRuntimeClassId * (mrpt::poses::CPose3DQuatPDF::*)() const) &mrpt::poses::CPose3DQuatPDF::GetRuntimeClass, "C++: mrpt::poses::CPose3DQuatPDF::GetRuntimeClass() const --> const struct mrpt::rtti::TRuntimeClassId *", pybind11::return_value_policy::automatic);
 		cl.def_static("GetRuntimeClassIdStatic", (const struct mrpt::rtti::TRuntimeClassId & (*)()) &mrpt::poses::CPose3DQuatPDF::GetRuntimeClassIdStatic, "C++: mrpt::poses::CPose3DQuatPDF::GetRuntimeClassIdStatic() --> const struct mrpt::rtti::TRuntimeClassId &", pybind11::return_value_policy::automatic);
 		cl.def("copyFrom", (void (mrpt::poses::CPose3DQuatPDF::*)(const class mrpt::poses::CPose3DQuatPDF &)) &mrpt::poses::CPose3DQuatPDF::copyFrom, "Copy operator, translating if necesary (for example, between particles\n and gaussian representations)\n \n\n createFrom2D\n\nC++: mrpt::poses::CPose3DQuatPDF::copyFrom(const class mrpt::poses::CPose3DQuatPDF &) --> void", pybind11::arg("o"));
-		cl.def_static("createFrom2D", (class mrpt::poses::CPose3DQuatPDF * (*)(const class mrpt::poses::CPosePDF &)) &mrpt::poses::CPose3DQuatPDF::createFrom2D, "This is a static transformation method from 2D poses to 3D PDFs,\n preserving the representation type (particles->particles,\n Gaussians->Gaussians,etc)\n  It returns a new object of any of the derived classes of\n CPose3DQuatPDF. This object must be deleted by the user when not required\n anymore.\n  \n\n copyFrom\n\nC++: mrpt::poses::CPose3DQuatPDF::createFrom2D(const class mrpt::poses::CPosePDF &) --> class mrpt::poses::CPose3DQuatPDF *", pybind11::return_value_policy::automatic, pybind11::arg("o"));
+		cl.def_static("createFrom2D", (class std::shared_ptr<class mrpt::poses::CPose3DQuatPDF> (*)(const class mrpt::poses::CPosePDF &)) &mrpt::poses::CPose3DQuatPDF::createFrom2D, "This is a static transformation method from 2D poses to 3D PDFs,\n preserving the representation type (particles->particles,\n Gaussians->Gaussians,etc)\n  It returns a new object of any of the derived classes of\n CPose3DQuatPDF. This object must be deleted by the user when not required\n anymore.\n  \n\n copyFrom\n\nC++: mrpt::poses::CPose3DQuatPDF::createFrom2D(const class mrpt::poses::CPosePDF &) --> class std::shared_ptr<class mrpt::poses::CPose3DQuatPDF>", pybind11::arg("o"));
 		cl.def("inverse", (void (mrpt::poses::CPose3DQuatPDF::*)(class mrpt::poses::CPose3DQuatPDF &) const) &mrpt::poses::CPose3DQuatPDF::inverse, "Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF \n\nC++: mrpt::poses::CPose3DQuatPDF::inverse(class mrpt::poses::CPose3DQuatPDF &) const --> void", pybind11::arg("o"));
 		cl.def("changeCoordinatesReference", (void (mrpt::poses::CPose3DQuatPDF::*)(const class mrpt::poses::CPose3D &)) &mrpt::poses::CPose3DQuatPDF::changeCoordinatesReference, "C++: mrpt::poses::CPose3DQuatPDF::changeCoordinatesReference(const class mrpt::poses::CPose3D &) --> void", pybind11::arg("newReferenceBase"));
 		cl.def_static("jacobiansPoseComposition", [](const class mrpt::poses::CPose3DQuat & a0, const class mrpt::poses::CPose3DQuat & a1, class mrpt::math::CMatrixFixed<double, 7, 7> & a2, class mrpt::math::CMatrixFixed<double, 7, 7> & a3) -> void { return mrpt::poses::CPose3DQuatPDF::jacobiansPoseComposition(a0, a1, a2, a3); }, "", pybind11::arg("x"), pybind11::arg("u"), pybind11::arg("df_dx"), pybind11::arg("df_du"));