diff --git a/python/src/mrpt/math/CMatrixDynamic.cpp b/python/src/mrpt/math/CMatrixDynamic.cpp
index 43b379213..1b600737a 100644
--- a/python/src/mrpt/math/CMatrixDynamic.cpp
+++ b/python/src/mrpt/math/CMatrixDynamic.cpp
@@ -42,12 +42,24 @@ void bind_mrpt_math_CMatrixDynamic(std::function< pybind11::module &(std::string
 		cl.def("derived", (class mrpt::math::CMatrixDynamic<float> & (mrpt::math::CMatrixDynamic<float>::*)()) &mrpt::math::CMatrixDynamic<float>::derived, "C++: mrpt::math::CMatrixDynamic<float>::derived() --> class mrpt::math::CMatrixDynamic<float> &", pybind11::return_value_policy::automatic);
 		cl.def("conservativeResize", (void (mrpt::math::CMatrixDynamic<float>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<float>::conservativeResize, "C++: mrpt::math::CMatrixDynamic<float>::conservativeResize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
 		cl.def("data", (float * (mrpt::math::CMatrixDynamic<float>::*)()) &mrpt::math::CMatrixDynamic<float>::data, "C++: mrpt::math::CMatrixDynamic<float>::data() --> float *", pybind11::return_value_policy::automatic);
-		cl.def("__call__", (float & (mrpt::math::CMatrixDynamic<float>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<float>::operator(), "C++: mrpt::math::CMatrixDynamic<float>::operator()(size_t, size_t) --> float &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("__getitem__", (float & (mrpt::math::CMatrixDynamic<float>::*)(size_t)) &mrpt::math::CMatrixDynamic<float>::operator[], "C++: mrpt::math::CMatrixDynamic<float>::operator[](size_t) --> float &", pybind11::return_value_policy::automatic, pybind11::arg("ith"));
+		cl.def("__call__", (float & (mrpt::math::CMatrixDynamic<float>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<float>::operator(), "C++: mrpt::math::CMatrixDynamic<float>::operator()(size_t, size_t) --> float &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
 		cl.def("cast_float", (class mrpt::math::CMatrixDynamic<float> (mrpt::math::CMatrixDynamic<float>::*)() const) &mrpt::math::CMatrixDynamic<float>::cast_float, "C++: mrpt::math::CMatrixDynamic<float>::cast_float() const --> class mrpt::math::CMatrixDynamic<float>");
 		cl.def("cast_double", (class mrpt::math::CMatrixDynamic<double> (mrpt::math::CMatrixDynamic<float>::*)() const) &mrpt::math::CMatrixDynamic<float>::cast_double, "C++: mrpt::math::CMatrixDynamic<float>::cast_double() const --> class mrpt::math::CMatrixDynamic<double>");
 		cl.def("llt_solve", (class mrpt::math::CVectorDynamic<float> (mrpt::math::CMatrixDynamic<float>::*)(const class mrpt::math::CVectorDynamic<float> &) const) &mrpt::math::CMatrixDynamic<float>::llt_solve, "C++: mrpt::math::CMatrixDynamic<float>::llt_solve(const class mrpt::math::CVectorDynamic<float> &) const --> class mrpt::math::CVectorDynamic<float>", pybind11::arg("b"));
 		cl.def("lu_solve", (class mrpt::math::CVectorDynamic<float> (mrpt::math::CMatrixDynamic<float>::*)(const class mrpt::math::CVectorDynamic<float> &) const) &mrpt::math::CMatrixDynamic<float>::lu_solve, "C++: mrpt::math::CMatrixDynamic<float>::lu_solve(const class mrpt::math::CVectorDynamic<float> &) const --> class mrpt::math::CVectorDynamic<float>", pybind11::arg("b"));
+
+		// Manually-added matrix methods:
+		using dat_t = float;
+		using mat_t = mrpt::math::CMatrixDynamic<dat_t>;
+		cl.def("__getitem__", [](const mat_t&self, pybind11::tuple coord) -> dat_t { if (coord.size()==2) return self.coeff(coord[0].cast<size_t>(), coord[1].cast<size_t>()); else if (coord.size()==1) return self[coord[0].cast<size_t>()]; else throw std::invalid_argument("Access with [idx] or [row,col]"); });
+		cl.def("__setitem__", [](mat_t&self, pybind11::tuple coord, dat_t val) { if (coord.size()==2) self.coeffRef(coord[0].cast<size_t>(), coord[1].cast<size_t>())=val; else if (coord.size()==1) self[coord[0].cast<size_t>()]=val; else throw std::invalid_argument("Access with [idx] or [row,col]"); });
+		cl.def("__str__", [](const mat_t& o) -> std::string { return o.asString(); } );
+		cl.def("inMatlabFormat", [](const mat_t& o) -> std::string { return o.inMatlabFormat(); } );
+		cl.def("size", [](const mat_t&self) -> pybind11::tuple { return pybind11::make_tuple(self.cols(),self.rows()); });
+		cl.def_static("Identity", [](const size_t N) -> mat_t { return mat_t::Identity(N); }, "Returns the NxN identity matrix");
+		cl.def_static("Zero", [](const size_t nRows, const size_t nCols) -> mat_t { return mat_t::Zero(nRows,nCols); }, "Returns a matrix with zeroes");
+		cl.def(pybind11::init( [](pybind11::list vals){ auto m = new mat_t(); const auto nR = vals.size(); if (!nR) return m; const auto nC = vals[0].cast<pybind11::list>().size(); m->setSize(nR,nC); for (size_t r=0;r<nR;r++) { const auto row = vals[r].cast<pybind11::list>(); for (size_t c=0;c<nC;c++) m->coeffRef(r,c) = row[c].cast<dat_t>(); } return m; }));
+		cl.def("to_list", [](const mat_t&self) -> pybind11::list { auto l = pybind11::list(); const auto nR = self.rows(), nC = self.cols(); for (int r=0;r<nR;r++) { auto row = pybind11::list(); l.append(row); for (int c=0;c<nC;c++) row.append(self.coeff(r,c)); } return l; });
 	}
 	{ // mrpt::math::CMatrixDynamic file:mrpt/math/CMatrixDynamic.h line:41
 		pybind11::class_<mrpt::math::CMatrixDynamic<unsigned char>, std::shared_ptr<mrpt::math::CMatrixDynamic<unsigned char>>> cl(M("mrpt::math"), "CMatrixDynamic_unsigned_char_t", "");
@@ -70,8 +82,8 @@ void bind_mrpt_math_CMatrixDynamic(std::function< pybind11::module &(std::string
 		cl.def("derived", (class mrpt::math::CMatrixDynamic<unsigned char> & (mrpt::math::CMatrixDynamic<unsigned char>::*)()) &mrpt::math::CMatrixDynamic<unsigned char>::derived, "C++: mrpt::math::CMatrixDynamic<unsigned char>::derived() --> class mrpt::math::CMatrixDynamic<unsigned char> &", pybind11::return_value_policy::automatic);
 		cl.def("conservativeResize", (void (mrpt::math::CMatrixDynamic<unsigned char>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<unsigned char>::conservativeResize, "C++: mrpt::math::CMatrixDynamic<unsigned char>::conservativeResize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
 		cl.def("data", (unsigned char * (mrpt::math::CMatrixDynamic<unsigned char>::*)()) &mrpt::math::CMatrixDynamic<unsigned char>::data, "C++: mrpt::math::CMatrixDynamic<unsigned char>::data() --> unsigned char *", pybind11::return_value_policy::automatic);
-		cl.def("__call__", (unsigned char & (mrpt::math::CMatrixDynamic<unsigned char>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<unsigned char>::operator(), "C++: mrpt::math::CMatrixDynamic<unsigned char>::operator()(size_t, size_t) --> unsigned char &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("__getitem__", (unsigned char & (mrpt::math::CMatrixDynamic<unsigned char>::*)(size_t)) &mrpt::math::CMatrixDynamic<unsigned char>::operator[], "C++: mrpt::math::CMatrixDynamic<unsigned char>::operator[](size_t) --> unsigned char &", pybind11::return_value_policy::automatic, pybind11::arg("ith"));
+		cl.def("__call__", (unsigned char & (mrpt::math::CMatrixDynamic<unsigned char>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<unsigned char>::operator(), "C++: mrpt::math::CMatrixDynamic<unsigned char>::operator()(size_t, size_t) --> unsigned char &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("__getitem__", (unsigned char & (mrpt::math::CMatrixDynamic<unsigned char>::*)(size_t)) &mrpt::math::CMatrixDynamic<unsigned char>::operator[], "C++: mrpt::math::CMatrixDynamic<unsigned char>::operator[](size_t) --> unsigned char &", pybind11::return_value_policy::reference, pybind11::arg("ith"));
 	}
 	{ // mrpt::math::CMatrixDynamic file:mrpt/math/CMatrixDynamic.h line:41
 		pybind11::class_<mrpt::math::CMatrixDynamic<unsigned short>, std::shared_ptr<mrpt::math::CMatrixDynamic<unsigned short>>> cl(M("mrpt::math"), "CMatrixDynamic_unsigned_short_t", "");
@@ -94,7 +106,7 @@ void bind_mrpt_math_CMatrixDynamic(std::function< pybind11::module &(std::string
 		cl.def("derived", (class mrpt::math::CMatrixDynamic<unsigned short> & (mrpt::math::CMatrixDynamic<unsigned short>::*)()) &mrpt::math::CMatrixDynamic<unsigned short>::derived, "C++: mrpt::math::CMatrixDynamic<unsigned short>::derived() --> class mrpt::math::CMatrixDynamic<unsigned short> &", pybind11::return_value_policy::automatic);
 		cl.def("conservativeResize", (void (mrpt::math::CMatrixDynamic<unsigned short>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<unsigned short>::conservativeResize, "C++: mrpt::math::CMatrixDynamic<unsigned short>::conservativeResize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
 		cl.def("data", (unsigned short * (mrpt::math::CMatrixDynamic<unsigned short>::*)()) &mrpt::math::CMatrixDynamic<unsigned short>::data, "C++: mrpt::math::CMatrixDynamic<unsigned short>::data() --> unsigned short *", pybind11::return_value_policy::automatic);
-		cl.def("__call__", (unsigned short & (mrpt::math::CMatrixDynamic<unsigned short>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<unsigned short>::operator(), "C++: mrpt::math::CMatrixDynamic<unsigned short>::operator()(size_t, size_t) --> unsigned short &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("__getitem__", (unsigned short & (mrpt::math::CMatrixDynamic<unsigned short>::*)(size_t)) &mrpt::math::CMatrixDynamic<unsigned short>::operator[], "C++: mrpt::math::CMatrixDynamic<unsigned short>::operator[](size_t) --> unsigned short &", pybind11::return_value_policy::automatic, pybind11::arg("ith"));
+		cl.def("__call__", (unsigned short & (mrpt::math::CMatrixDynamic<unsigned short>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<unsigned short>::operator(), "C++: mrpt::math::CMatrixDynamic<unsigned short>::operator()(size_t, size_t) --> unsigned short &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("__getitem__", (unsigned short & (mrpt::math::CMatrixDynamic<unsigned short>::*)(size_t)) &mrpt::math::CMatrixDynamic<unsigned short>::operator[], "C++: mrpt::math::CMatrixDynamic<unsigned short>::operator[](size_t) --> unsigned short &", pybind11::return_value_policy::reference, pybind11::arg("ith"));
 	}
 }
diff --git a/python/src/mrpt/math/CMatrixDynamic_1.cpp b/python/src/mrpt/math/CMatrixDynamic_1.cpp
index 5e303af0c..be42731ed 100644
--- a/python/src/mrpt/math/CMatrixDynamic_1.cpp
+++ b/python/src/mrpt/math/CMatrixDynamic_1.cpp
@@ -48,8 +48,8 @@ void bind_mrpt_math_CMatrixDynamic_1(std::function< pybind11::module &(std::stri
 		cl.def("derived", (class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > & (mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::*)()) &mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::derived, "C++: mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::derived() --> class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > &", pybind11::return_value_policy::automatic);
 		cl.def("conservativeResize", (void (mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::conservativeResize, "C++: mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::conservativeResize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
 		cl.def("data", (struct mrpt::math::TPoint3D_<float> * (mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::*)()) &mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::data, "C++: mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::data() --> struct mrpt::math::TPoint3D_<float> *", pybind11::return_value_policy::automatic);
-		cl.def("__call__", (struct mrpt::math::TPoint3D_<float> & (mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::operator(), "C++: mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::operator()(size_t, size_t) --> struct mrpt::math::TPoint3D_<float> &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("__getitem__", (struct mrpt::math::TPoint3D_<float> & (mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::*)(size_t)) &mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::operator[], "C++: mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::operator[](size_t) --> struct mrpt::math::TPoint3D_<float> &", pybind11::return_value_policy::automatic, pybind11::arg("ith"));
+		cl.def("__call__", (struct mrpt::math::TPoint3D_<float> & (mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::operator(), "C++: mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::operator()(size_t, size_t) --> struct mrpt::math::TPoint3D_<float> &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("__getitem__", (struct mrpt::math::TPoint3D_<float> & (mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::*)(size_t)) &mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::operator[], "C++: mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::operator[](size_t) --> struct mrpt::math::TPoint3D_<float> &", pybind11::return_value_policy::reference, pybind11::arg("ith"));
 		cl.def("cast_float", (class mrpt::math::CMatrixDynamic<float> (mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::*)() const) &mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::cast_float, "C++: mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::cast_float() const --> class mrpt::math::CMatrixDynamic<float>");
 		cl.def("cast_double", (class mrpt::math::CMatrixDynamic<double> (mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::*)() const) &mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::cast_double, "C++: mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::cast_double() const --> class mrpt::math::CMatrixDynamic<double>");
 	}
@@ -73,9 +73,9 @@ void bind_mrpt_math_CMatrixDynamic_1(std::function< pybind11::module &(std::stri
 		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)() const) &mrpt::math::CMatrixFixed<double, 2, 2>::rows, "C++: mrpt::math::CMatrixFixed<double, 2, 2>::rows() const --> int");
 		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)() const) &mrpt::math::CMatrixFixed<double, 2, 2>::cols, "C++: mrpt::math::CMatrixFixed<double, 2, 2>::cols() const --> int");
 		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)()) &mrpt::math::CMatrixFixed<double, 2, 2>::data, "C++: mrpt::math::CMatrixFixed<double, 2, 2>::data() --> double *", pybind11::return_value_policy::automatic);
-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 2, 2>::operator(), "C++: mrpt::math::CMatrixFixed<double, 2, 2>::operator()(int, int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 2, 2>::operator(), "C++: mrpt::math::CMatrixFixed<double, 2, 2>::operator()(int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
-		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 2, 2>::operator[], "C++: mrpt::math::CMatrixFixed<double, 2, 2>::operator[](int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 2, 2>::operator(), "C++: mrpt::math::CMatrixFixed<double, 2, 2>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 2, 2>::operator(), "C++: mrpt::math::CMatrixFixed<double, 2, 2>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
+		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 2, 2>::operator[], "C++: mrpt::math::CMatrixFixed<double, 2, 2>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)(const class mrpt::math::CMatrixFixed<double, 2, 2> &)) &mrpt::math::CMatrixFixed<double, 2, 2>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 2, 2>::sum_At(const class mrpt::math::CMatrixFixed<double, 2, 2> &) --> void", pybind11::arg("A"));
 		cl.def("assign", (class mrpt::math::CMatrixFixed<double, 2, 2> & (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)(const class mrpt::math::CMatrixFixed<double, 2, 2> &)) &mrpt::math::CMatrixFixed<double, 2, 2>::operator=, "C++: mrpt::math::CMatrixFixed<double, 2, 2>::operator=(const class mrpt::math::CMatrixFixed<double, 2, 2> &) --> class mrpt::math::CMatrixFixed<double, 2, 2> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
 	}
@@ -99,11 +99,23 @@ void bind_mrpt_math_CMatrixDynamic_1(std::function< pybind11::module &(std::stri
 		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)() const) &mrpt::math::CMatrixFixed<double, 3, 3>::rows, "C++: mrpt::math::CMatrixFixed<double, 3, 3>::rows() const --> int");
 		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)() const) &mrpt::math::CMatrixFixed<double, 3, 3>::cols, "C++: mrpt::math::CMatrixFixed<double, 3, 3>::cols() const --> int");
 		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)()) &mrpt::math::CMatrixFixed<double, 3, 3>::data, "C++: mrpt::math::CMatrixFixed<double, 3, 3>::data() --> double *", pybind11::return_value_policy::automatic);
-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 3, 3>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 3>::operator()(int, int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 3>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 3>::operator()(int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
-		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 3>::operator[], "C++: mrpt::math::CMatrixFixed<double, 3, 3>::operator[](int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 3, 3>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 3>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 3>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 3>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
 		cl.def("cast_float", (class mrpt::math::CMatrixFixed<float, 3, 3> (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)() const) &mrpt::math::CMatrixFixed<double, 3, 3>::cast_float, "C++: mrpt::math::CMatrixFixed<double, 3, 3>::cast_float() const --> class mrpt::math::CMatrixFixed<float, 3, 3>");
 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)(const class mrpt::math::CMatrixFixed<double, 3, 3> &)) &mrpt::math::CMatrixFixed<double, 3, 3>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 3, 3>::sum_At(const class mrpt::math::CMatrixFixed<double, 3, 3> &) --> void", pybind11::arg("A"));
 		cl.def("assign", (class mrpt::math::CMatrixFixed<double, 3, 3> & (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)(const class mrpt::math::CMatrixFixed<double, 3, 3> &)) &mrpt::math::CMatrixFixed<double, 3, 3>::operator=, "C++: mrpt::math::CMatrixFixed<double, 3, 3>::operator=(const class mrpt::math::CMatrixFixed<double, 3, 3> &) --> class mrpt::math::CMatrixFixed<double, 3, 3> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
+
+		// Manually-added matrix methods:
+		using dat_t = double;
+		using mat_t = mrpt::math::CMatrixFixed<dat_t,3,3>;
+		cl.def("__getitem__", [](const mat_t&self, pybind11::tuple coord) -> dat_t { if (coord.size()==2) return self.coeff(coord[0].cast<size_t>(), coord[1].cast<size_t>()); else if (coord.size()==1) return self[coord[0].cast<size_t>()]; else throw std::invalid_argument("Access with [idx] or [row,col]"); });
+		cl.def("__setitem__", [](mat_t&self, pybind11::tuple coord, dat_t val) { if (coord.size()==2) self.coeffRef(coord[0].cast<size_t>(), coord[1].cast<size_t>())=val; else if (coord.size()==1) self[coord[0].cast<size_t>()]=val; else throw std::invalid_argument("Access with [idx] or [row,col]"); });
+		cl.def("__str__", [](const mat_t& o) -> std::string { return o.asString(); } );
+		cl.def("inMatlabFormat", [](const mat_t& o) -> std::string { return o.inMatlabFormat(); } );
+		cl.def("size", [](const mat_t&self) -> pybind11::tuple { return pybind11::make_tuple(self.cols(),self.rows()); });
+		cl.def_static("Identity", []() -> mat_t { return mat_t::Identity(); }, "Returns the NxN identity matrix");
+		cl.def_static("Zero", []() -> mat_t { return mat_t::Zero(); }, "Returns a matrix with zeroes");
+		cl.def(pybind11::init( [](pybind11::list vals){ auto m = new mat_t(); const auto nR = vals.size(); if (!nR) return m; const auto nC = vals[0].cast<pybind11::list>().size(); m->setSize(nR,nC); for (size_t r=0;r<nR;r++) { const auto row = vals[r].cast<pybind11::list>(); for (size_t c=0;c<nC;c++) m->coeffRef(r,c) = row[c].cast<dat_t>(); } return m; }));
+		cl.def("to_list", [](const mat_t&self) -> pybind11::list { auto l = pybind11::list(); const auto nR = self.rows(), nC = self.cols(); for (int r=0;r<nR;r++) { auto row = pybind11::list(); l.append(row); for (int c=0;c<nC;c++) row.append(self.coeff(r,c)); } return l; });
 	}
 }
diff --git a/python/src/mrpt/math/CMatrixDynamic_2.cpp b/python/src/mrpt/math/CMatrixDynamic_2.cpp
index ff79a4a0a..4865de614 100644
--- a/python/src/mrpt/math/CMatrixDynamic_2.cpp
+++ b/python/src/mrpt/math/CMatrixDynamic_2.cpp
@@ -127,12 +127,24 @@ void bind_mrpt_math_CMatrixDynamic_2(std::function< pybind11::module &(std::stri
 		cl.def("derived", (class mrpt::math::CMatrixDynamic<double> & (mrpt::math::CMatrixDynamic<double>::*)()) &mrpt::math::CMatrixDynamic<double>::derived, "C++: mrpt::math::CMatrixDynamic<double>::derived() --> class mrpt::math::CMatrixDynamic<double> &", pybind11::return_value_policy::automatic);
 		cl.def("conservativeResize", (void (mrpt::math::CMatrixDynamic<double>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<double>::conservativeResize, "C++: mrpt::math::CMatrixDynamic<double>::conservativeResize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
 		cl.def("data", (double * (mrpt::math::CMatrixDynamic<double>::*)()) &mrpt::math::CMatrixDynamic<double>::data, "C++: mrpt::math::CMatrixDynamic<double>::data() --> double *", pybind11::return_value_policy::automatic);
-		cl.def("__call__", (double & (mrpt::math::CMatrixDynamic<double>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<double>::operator(), "C++: mrpt::math::CMatrixDynamic<double>::operator()(size_t, size_t) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("__getitem__", (double & (mrpt::math::CMatrixDynamic<double>::*)(size_t)) &mrpt::math::CMatrixDynamic<double>::operator[], "C++: mrpt::math::CMatrixDynamic<double>::operator[](size_t) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("ith"));
+		cl.def("__call__", (double & (mrpt::math::CMatrixDynamic<double>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<double>::operator(), "C++: mrpt::math::CMatrixDynamic<double>::operator()(size_t, size_t) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
 		cl.def("cast_float", (class mrpt::math::CMatrixDynamic<float> (mrpt::math::CMatrixDynamic<double>::*)() const) &mrpt::math::CMatrixDynamic<double>::cast_float, "C++: mrpt::math::CMatrixDynamic<double>::cast_float() const --> class mrpt::math::CMatrixDynamic<float>");
 		cl.def("cast_double", (class mrpt::math::CMatrixDynamic<double> (mrpt::math::CMatrixDynamic<double>::*)() const) &mrpt::math::CMatrixDynamic<double>::cast_double, "C++: mrpt::math::CMatrixDynamic<double>::cast_double() const --> class mrpt::math::CMatrixDynamic<double>");
 		cl.def("llt_solve", (class mrpt::math::CVectorDynamic<double> (mrpt::math::CMatrixDynamic<double>::*)(const class mrpt::math::CVectorDynamic<double> &) const) &mrpt::math::CMatrixDynamic<double>::llt_solve, "C++: mrpt::math::CMatrixDynamic<double>::llt_solve(const class mrpt::math::CVectorDynamic<double> &) const --> class mrpt::math::CVectorDynamic<double>", pybind11::arg("b"));
 		cl.def("lu_solve", (class mrpt::math::CVectorDynamic<double> (mrpt::math::CMatrixDynamic<double>::*)(const class mrpt::math::CVectorDynamic<double> &) const) &mrpt::math::CMatrixDynamic<double>::lu_solve, "C++: mrpt::math::CMatrixDynamic<double>::lu_solve(const class mrpt::math::CVectorDynamic<double> &) const --> class mrpt::math::CVectorDynamic<double>", pybind11::arg("b"));
+
+		// Manually-added matrix methods:
+		using dat_t = double;
+		using mat_t = mrpt::math::CMatrixDynamic<dat_t>;
+		cl.def("__getitem__", [](const mat_t&self, pybind11::tuple coord) -> dat_t { if (coord.size()==2) return self.coeff(coord[0].cast<size_t>(), coord[1].cast<size_t>()); else if (coord.size()==1) return self[coord[0].cast<size_t>()]; else throw std::invalid_argument("Access with [idx] or [row,col]"); });
+		cl.def("__setitem__", [](mat_t&self, pybind11::tuple coord, dat_t val) { if (coord.size()==2) self.coeffRef(coord[0].cast<size_t>(), coord[1].cast<size_t>())=val; else if (coord.size()==1) self[coord[0].cast<size_t>()]=val; else throw std::invalid_argument("Access with [idx] or [row,col]"); });
+		cl.def("__str__", [](const mat_t& o) -> std::string { return o.asString(); } );
+		cl.def("inMatlabFormat", [](const mat_t& o) -> std::string { return o.inMatlabFormat(); } );
+		cl.def("size", [](const mat_t&self) -> pybind11::tuple { return pybind11::make_tuple(self.cols(),self.rows()); });
+		cl.def_static("Identity", [](const size_t N) -> mat_t { return mat_t::Identity(N); }, "Returns the NxN identity matrix");
+		cl.def_static("Zero", [](const size_t nRows, const size_t nCols) -> mat_t { return mat_t::Zero(nRows,nCols); }, "Returns a matrix with zeroes");
+		cl.def(pybind11::init( [](pybind11::list vals){ auto m = new mat_t(); const auto nR = vals.size(); if (!nR) return m; const auto nC = vals[0].cast<pybind11::list>().size(); m->setSize(nR,nC); for (size_t r=0;r<nR;r++) { const auto row = vals[r].cast<pybind11::list>(); for (size_t c=0;c<nC;c++) m->coeffRef(r,c) = row[c].cast<dat_t>(); } return m; }));
+		cl.def("to_list", [](const mat_t&self) -> pybind11::list { auto l = pybind11::list(); const auto nR = self.rows(), nC = self.cols(); for (int r=0;r<nR;r++) { auto row = pybind11::list(); l.append(row); for (int c=0;c<nC;c++) row.append(self.coeff(r,c)); } return l; });
 	}
 	{ // mrpt::math::CMatrixD file:mrpt/math/CMatrixD.h line:23
 		pybind11::class_<mrpt::math::CMatrixD, std::shared_ptr<mrpt::math::CMatrixD>, PyCallBack_mrpt_math_CMatrixD, mrpt::serialization::CSerializable, mrpt::math::CMatrixDynamic<double>> cl(M("mrpt::math"), "CMatrixD", "This class is a \"CSerializable\" wrapper for\n \"CMatrixDynamic<double>\".\n \n\n For a complete introduction to Matrices and vectors in MRPT, see:\n https://www.mrpt.org/Matrices_vectors_arrays_and_Linear_Algebra_MRPT_and_Eigen_classes\n \n\n\n ");
diff --git a/python/src/mrpt/math/CMatrixFixed.cpp b/python/src/mrpt/math/CMatrixFixed.cpp
index a9ec794ef..2168c4bf9 100644
--- a/python/src/mrpt/math/CMatrixFixed.cpp
+++ b/python/src/mrpt/math/CMatrixFixed.cpp
@@ -38,12 +38,24 @@ void bind_mrpt_math_CMatrixFixed(std::function< pybind11::module &(std::string c
 		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,4UL,4UL>::*)() const) &mrpt::math::CMatrixFixed<double, 4, 4>::rows, "C++: mrpt::math::CMatrixFixed<double, 4, 4>::rows() const --> int");
 		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,4UL,4UL>::*)() const) &mrpt::math::CMatrixFixed<double, 4, 4>::cols, "C++: mrpt::math::CMatrixFixed<double, 4, 4>::cols() const --> int");
 		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,4UL,4UL>::*)()) &mrpt::math::CMatrixFixed<double, 4, 4>::data, "C++: mrpt::math::CMatrixFixed<double, 4, 4>::data() --> double *", pybind11::return_value_policy::automatic);
-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,4UL,4UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 4, 4>::operator(), "C++: mrpt::math::CMatrixFixed<double, 4, 4>::operator()(int, int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,4UL,4UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 4, 4>::operator(), "C++: mrpt::math::CMatrixFixed<double, 4, 4>::operator()(int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
-		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,4UL,4UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 4, 4>::operator[], "C++: mrpt::math::CMatrixFixed<double, 4, 4>::operator[](int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,4UL,4UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 4, 4>::operator(), "C++: mrpt::math::CMatrixFixed<double, 4, 4>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,4UL,4UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 4, 4>::operator(), "C++: mrpt::math::CMatrixFixed<double, 4, 4>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
 		cl.def("cast_float", (class mrpt::math::CMatrixFixed<float, 4, 4> (mrpt::math::CMatrixFixed<double,4UL,4UL>::*)() const) &mrpt::math::CMatrixFixed<double, 4, 4>::cast_float, "C++: mrpt::math::CMatrixFixed<double, 4, 4>::cast_float() const --> class mrpt::math::CMatrixFixed<float, 4, 4>");
 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,4UL,4UL>::*)(const class mrpt::math::CMatrixFixed<double, 4, 4> &)) &mrpt::math::CMatrixFixed<double, 4, 4>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 4, 4>::sum_At(const class mrpt::math::CMatrixFixed<double, 4, 4> &) --> void", pybind11::arg("A"));
 		cl.def("assign", (class mrpt::math::CMatrixFixed<double, 4, 4> & (mrpt::math::CMatrixFixed<double,4UL,4UL>::*)(const class mrpt::math::CMatrixFixed<double, 4, 4> &)) &mrpt::math::CMatrixFixed<double, 4, 4>::operator=, "C++: mrpt::math::CMatrixFixed<double, 4, 4>::operator=(const class mrpt::math::CMatrixFixed<double, 4, 4> &) --> class mrpt::math::CMatrixFixed<double, 4, 4> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
+
+		// Manually-added matrix methods:
+		using dat_t = double;
+		using mat_t = mrpt::math::CMatrixFixed<dat_t,4,4>;
+		cl.def("__getitem__", [](const mat_t&self, pybind11::tuple coord) -> dat_t { if (coord.size()==2) return self.coeff(coord[0].cast<size_t>(), coord[1].cast<size_t>()); else if (coord.size()==1) return self[coord[0].cast<size_t>()]; else throw std::invalid_argument("Access with [idx] or [row,col]"); });
+		cl.def("__setitem__", [](mat_t&self, pybind11::tuple coord, dat_t val) { if (coord.size()==2) self.coeffRef(coord[0].cast<size_t>(), coord[1].cast<size_t>())=val; else if (coord.size()==1) self[coord[0].cast<size_t>()]=val; else throw std::invalid_argument("Access with [idx] or [row,col]"); });
+		cl.def("__str__", [](const mat_t& o) -> std::string { return o.asString(); } );
+		cl.def("inMatlabFormat", [](const mat_t& o) -> std::string { return o.inMatlabFormat(); } );
+		cl.def("size", [](const mat_t&self) -> pybind11::tuple { return pybind11::make_tuple(self.cols(),self.rows()); });
+		cl.def_static("Identity", []() -> mat_t { return mat_t::Identity(); }, "Returns the NxN identity matrix");
+		cl.def_static("Zero", []() -> mat_t { return mat_t::Zero(); }, "Returns a matrix with zeroes");
+		cl.def(pybind11::init( [](pybind11::list vals){ auto m = new mat_t(); const auto nR = vals.size(); if (!nR) return m; const auto nC = vals[0].cast<pybind11::list>().size(); m->setSize(nR,nC); for (size_t r=0;r<nR;r++) { const auto row = vals[r].cast<pybind11::list>(); for (size_t c=0;c<nC;c++) m->coeffRef(r,c) = row[c].cast<dat_t>(); } return m; }));
+		cl.def("to_list", [](const mat_t&self) -> pybind11::list { auto l = pybind11::list(); const auto nR = self.rows(), nC = self.cols(); for (int r=0;r<nR;r++) { auto row = pybind11::list(); l.append(row); for (int c=0;c<nC;c++) row.append(self.coeff(r,c)); } return l; });
 	}
 	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
 		pybind11::class_<mrpt::math::CMatrixFixed<double,6UL,6UL>, std::shared_ptr<mrpt::math::CMatrixFixed<double,6UL,6UL>>> cl(M("mrpt::math"), "CMatrixFixed_double_6UL_6UL_t", "");
@@ -65,11 +77,23 @@ void bind_mrpt_math_CMatrixFixed(std::function< pybind11::module &(std::string c
 		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,6UL,6UL>::*)() const) &mrpt::math::CMatrixFixed<double, 6, 6>::rows, "C++: mrpt::math::CMatrixFixed<double, 6, 6>::rows() const --> int");
 		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,6UL,6UL>::*)() const) &mrpt::math::CMatrixFixed<double, 6, 6>::cols, "C++: mrpt::math::CMatrixFixed<double, 6, 6>::cols() const --> int");
 		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,6UL,6UL>::*)()) &mrpt::math::CMatrixFixed<double, 6, 6>::data, "C++: mrpt::math::CMatrixFixed<double, 6, 6>::data() --> double *", pybind11::return_value_policy::automatic);
-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,6UL,6UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 6, 6>::operator(), "C++: mrpt::math::CMatrixFixed<double, 6, 6>::operator()(int, int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,6UL,6UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 6, 6>::operator(), "C++: mrpt::math::CMatrixFixed<double, 6, 6>::operator()(int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
-		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,6UL,6UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 6, 6>::operator[], "C++: mrpt::math::CMatrixFixed<double, 6, 6>::operator[](int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,6UL,6UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 6, 6>::operator(), "C++: mrpt::math::CMatrixFixed<double, 6, 6>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,6UL,6UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 6, 6>::operator(), "C++: mrpt::math::CMatrixFixed<double, 6, 6>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,6UL,6UL>::*)(const class mrpt::math::CMatrixFixed<double, 6, 6> &)) &mrpt::math::CMatrixFixed<double, 6, 6>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 6, 6>::sum_At(const class mrpt::math::CMatrixFixed<double, 6, 6> &) --> void", pybind11::arg("A"));
 		cl.def("assign", (class mrpt::math::CMatrixFixed<double, 6, 6> & (mrpt::math::CMatrixFixed<double,6UL,6UL>::*)(const class mrpt::math::CMatrixFixed<double, 6, 6> &)) &mrpt::math::CMatrixFixed<double, 6, 6>::operator=, "C++: mrpt::math::CMatrixFixed<double, 6, 6>::operator=(const class mrpt::math::CMatrixFixed<double, 6, 6> &) --> class mrpt::math::CMatrixFixed<double, 6, 6> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
+
+		// Manually-added matrix methods:
+		using dat_t = double;
+		using mat_t = mrpt::math::CMatrixFixed<dat_t,6,6>;
+		cl.def("__getitem__", [](const mat_t&self, pybind11::tuple coord) -> dat_t { if (coord.size()==2) return self.coeff(coord[0].cast<size_t>(), coord[1].cast<size_t>()); else if (coord.size()==1) return self[coord[0].cast<size_t>()]; else throw std::invalid_argument("Access with [idx] or [row,col]"); });
+		cl.def("__setitem__", [](mat_t&self, pybind11::tuple coord, dat_t val) { if (coord.size()==2) self.coeffRef(coord[0].cast<size_t>(), coord[1].cast<size_t>())=val; else if (coord.size()==1) self[coord[0].cast<size_t>()]=val; else throw std::invalid_argument("Access with [idx] or [row,col]"); });
+		cl.def("__str__", [](const mat_t& o) -> std::string { return o.asString(); } );
+		cl.def("inMatlabFormat", [](const mat_t& o) -> std::string { return o.inMatlabFormat(); } );
+		cl.def("size", [](const mat_t&self) -> pybind11::tuple { return pybind11::make_tuple(self.cols(),self.rows()); });
+		cl.def_static("Identity", []() -> mat_t { return mat_t::Identity(); }, "Returns the NxN identity matrix");
+		cl.def_static("Zero", []() -> mat_t { return mat_t::Zero(); }, "Returns a matrix with zeroes");
+		cl.def(pybind11::init( [](pybind11::list vals){ auto m = new mat_t(); const auto nR = vals.size(); if (!nR) return m; const auto nC = vals[0].cast<pybind11::list>().size(); m->setSize(nR,nC); for (size_t r=0;r<nR;r++) { const auto row = vals[r].cast<pybind11::list>(); for (size_t c=0;c<nC;c++) m->coeffRef(r,c) = row[c].cast<dat_t>(); } return m; }));
+		cl.def("to_list", [](const mat_t&self) -> pybind11::list { auto l = pybind11::list(); const auto nR = self.rows(), nC = self.cols(); for (int r=0;r<nR;r++) { auto row = pybind11::list(); l.append(row); for (int c=0;c<nC;c++) row.append(self.coeff(r,c)); } return l; });
 	}
 	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
 		pybind11::class_<mrpt::math::CMatrixFixed<double,7UL,7UL>, std::shared_ptr<mrpt::math::CMatrixFixed<double,7UL,7UL>>> cl(M("mrpt::math"), "CMatrixFixed_double_7UL_7UL_t", "");
@@ -91,9 +115,9 @@ void bind_mrpt_math_CMatrixFixed(std::function< pybind11::module &(std::string c
 		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)() const) &mrpt::math::CMatrixFixed<double, 7, 7>::rows, "C++: mrpt::math::CMatrixFixed<double, 7, 7>::rows() const --> int");
 		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)() const) &mrpt::math::CMatrixFixed<double, 7, 7>::cols, "C++: mrpt::math::CMatrixFixed<double, 7, 7>::cols() const --> int");
 		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)()) &mrpt::math::CMatrixFixed<double, 7, 7>::data, "C++: mrpt::math::CMatrixFixed<double, 7, 7>::data() --> double *", pybind11::return_value_policy::automatic);
-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 7, 7>::operator(), "C++: mrpt::math::CMatrixFixed<double, 7, 7>::operator()(int, int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 7, 7>::operator(), "C++: mrpt::math::CMatrixFixed<double, 7, 7>::operator()(int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
-		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 7, 7>::operator[], "C++: mrpt::math::CMatrixFixed<double, 7, 7>::operator[](int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 7, 7>::operator(), "C++: mrpt::math::CMatrixFixed<double, 7, 7>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 7, 7>::operator(), "C++: mrpt::math::CMatrixFixed<double, 7, 7>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
+		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 7, 7>::operator[], "C++: mrpt::math::CMatrixFixed<double, 7, 7>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)(const class mrpt::math::CMatrixFixed<double, 7, 7> &)) &mrpt::math::CMatrixFixed<double, 7, 7>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 7, 7>::sum_At(const class mrpt::math::CMatrixFixed<double, 7, 7> &) --> void", pybind11::arg("A"));
 		cl.def("assign", (class mrpt::math::CMatrixFixed<double, 7, 7> & (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)(const class mrpt::math::CMatrixFixed<double, 7, 7> &)) &mrpt::math::CMatrixFixed<double, 7, 7>::operator=, "C++: mrpt::math::CMatrixFixed<double, 7, 7>::operator=(const class mrpt::math::CMatrixFixed<double, 7, 7> &) --> class mrpt::math::CMatrixFixed<double, 7, 7> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
 	}
@@ -117,11 +141,22 @@ void bind_mrpt_math_CMatrixFixed(std::function< pybind11::module &(std::string c
 		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 3, 1>::rows, "C++: mrpt::math::CMatrixFixed<double, 3, 1>::rows() const --> int");
 		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 3, 1>::cols, "C++: mrpt::math::CMatrixFixed<double, 3, 1>::cols() const --> int");
 		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)()) &mrpt::math::CMatrixFixed<double, 3, 1>::data, "C++: mrpt::math::CMatrixFixed<double, 3, 1>::data() --> double *", pybind11::return_value_policy::automatic);
-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 3, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 1>::operator()(int, int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 1>::operator()(int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
-		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 1>::operator[], "C++: mrpt::math::CMatrixFixed<double, 3, 1>::operator[](int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 3, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 1>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 1>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
 		cl.def("cast_float", (class mrpt::math::CMatrixFixed<float, 3, 1> (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 3, 1>::cast_float, "C++: mrpt::math::CMatrixFixed<double, 3, 1>::cast_float() const --> class mrpt::math::CMatrixFixed<float, 3, 1>");
 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)(const class mrpt::math::CMatrixFixed<double, 3, 1> &)) &mrpt::math::CMatrixFixed<double, 3, 1>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 3, 1>::sum_At(const class mrpt::math::CMatrixFixed<double, 3, 1> &) --> void", pybind11::arg("A"));
 		cl.def("assign", (class mrpt::math::CMatrixFixed<double, 3, 1> & (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)(const class mrpt::math::CMatrixFixed<double, 3, 1> &)) &mrpt::math::CMatrixFixed<double, 3, 1>::operator=, "C++: mrpt::math::CMatrixFixed<double, 3, 1>::operator=(const class mrpt::math::CMatrixFixed<double, 3, 1> &) --> class mrpt::math::CMatrixFixed<double, 3, 1> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
+
+		// Manually-added matrix methods:
+		using dat_t = double;
+		using mat_t = mrpt::math::CMatrixFixed<dat_t,3,1>;
+		cl.def("__getitem__", [](const mat_t&self, pybind11::tuple coord) -> dat_t { if (coord.size()==2) return self.coeff(coord[0].cast<size_t>(), coord[1].cast<size_t>()); else if (coord.size()==1) return self[coord[0].cast<size_t>()]; else throw std::invalid_argument("Access with [idx] or [row,col]"); });
+		cl.def("__setitem__", [](mat_t&self, pybind11::tuple coord, dat_t val) { if (coord.size()==2) self.coeffRef(coord[0].cast<size_t>(), coord[1].cast<size_t>())=val; else if (coord.size()==1) self[coord[0].cast<size_t>()]=val; else throw std::invalid_argument("Access with [idx] or [row,col]"); });
+		cl.def("__str__", [](const mat_t& o) -> std::string { return o.asString(); } );
+		cl.def("inMatlabFormat", [](const mat_t& o) -> std::string { return o.inMatlabFormat(); } );
+		cl.def("size", [](const mat_t&self) -> pybind11::tuple { return pybind11::make_tuple(self.cols(),self.rows()); });
+		cl.def_static("Zero", []() -> mat_t { return mat_t::Zero(); }, "Returns a matrix with zeroes");
+		cl.def(pybind11::init( [](pybind11::list vals){ auto m = new mat_t(); const auto nR = vals.size(); if (!nR) return m; const auto nC = vals[0].cast<pybind11::list>().size(); m->setSize(nR,nC); for (size_t r=0;r<nR;r++) { const auto row = vals[r].cast<pybind11::list>(); for (size_t c=0;c<nC;c++) m->coeffRef(r,c) = row[c].cast<dat_t>(); } return m; }));
+		cl.def("to_list", [](const mat_t&self) -> pybind11::list { auto l = pybind11::list(); const auto nR = self.rows(), nC = self.cols(); for (int r=0;r<nR;r++) { auto row = pybind11::list(); l.append(row); for (int c=0;c<nC;c++) row.append(self.coeff(r,c)); } return l; });
 	}
 }
diff --git a/python/src/mrpt/math/CMatrixFixed_1.cpp b/python/src/mrpt/math/CMatrixFixed_1.cpp
index 0c09358f1..e182c663a 100644
--- a/python/src/mrpt/math/CMatrixFixed_1.cpp
+++ b/python/src/mrpt/math/CMatrixFixed_1.cpp
@@ -38,9 +38,9 @@ void bind_mrpt_math_CMatrixFixed_1(std::function< pybind11::module &(std::string
 		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,3UL,4UL>::*)() const) &mrpt::math::CMatrixFixed<double, 3, 4>::rows, "C++: mrpt::math::CMatrixFixed<double, 3, 4>::rows() const --> int");
 		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,3UL,4UL>::*)() const) &mrpt::math::CMatrixFixed<double, 3, 4>::cols, "C++: mrpt::math::CMatrixFixed<double, 3, 4>::cols() const --> int");
 		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,3UL,4UL>::*)()) &mrpt::math::CMatrixFixed<double, 3, 4>::data, "C++: mrpt::math::CMatrixFixed<double, 3, 4>::data() --> double *", pybind11::return_value_policy::automatic);
-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,4UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 3, 4>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 4>::operator()(int, int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,4UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 4>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 4>::operator()(int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
-		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,3UL,4UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 4>::operator[], "C++: mrpt::math::CMatrixFixed<double, 3, 4>::operator[](int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,4UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 3, 4>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 4>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,4UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 4>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 4>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
+		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,3UL,4UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 4>::operator[], "C++: mrpt::math::CMatrixFixed<double, 3, 4>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,3UL,4UL>::*)(const class mrpt::math::CMatrixFixed<double, 3, 4> &)) &mrpt::math::CMatrixFixed<double, 3, 4>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 3, 4>::sum_At(const class mrpt::math::CMatrixFixed<double, 3, 4> &) --> void", pybind11::arg("A"));
 	}
 	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
@@ -63,9 +63,9 @@ void bind_mrpt_math_CMatrixFixed_1(std::function< pybind11::module &(std::string
 		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,3UL,6UL>::*)() const) &mrpt::math::CMatrixFixed<double, 3, 6>::rows, "C++: mrpt::math::CMatrixFixed<double, 3, 6>::rows() const --> int");
 		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,3UL,6UL>::*)() const) &mrpt::math::CMatrixFixed<double, 3, 6>::cols, "C++: mrpt::math::CMatrixFixed<double, 3, 6>::cols() const --> int");
 		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,3UL,6UL>::*)()) &mrpt::math::CMatrixFixed<double, 3, 6>::data, "C++: mrpt::math::CMatrixFixed<double, 3, 6>::data() --> double *", pybind11::return_value_policy::automatic);
-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,6UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 3, 6>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 6>::operator()(int, int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,6UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 6>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 6>::operator()(int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
-		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,3UL,6UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 6>::operator[], "C++: mrpt::math::CMatrixFixed<double, 3, 6>::operator[](int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,6UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 3, 6>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 6>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,6UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 6>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 6>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
+		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,3UL,6UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 6>::operator[], "C++: mrpt::math::CMatrixFixed<double, 3, 6>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,3UL,6UL>::*)(const class mrpt::math::CMatrixFixed<double, 3, 6> &)) &mrpt::math::CMatrixFixed<double, 3, 6>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 3, 6>::sum_At(const class mrpt::math::CMatrixFixed<double, 3, 6> &) --> void", pybind11::arg("A"));
 	}
 	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
@@ -88,9 +88,9 @@ void bind_mrpt_math_CMatrixFixed_1(std::function< pybind11::module &(std::string
 		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 2, 1>::rows, "C++: mrpt::math::CMatrixFixed<double, 2, 1>::rows() const --> int");
 		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 2, 1>::cols, "C++: mrpt::math::CMatrixFixed<double, 2, 1>::cols() const --> int");
 		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)()) &mrpt::math::CMatrixFixed<double, 2, 1>::data, "C++: mrpt::math::CMatrixFixed<double, 2, 1>::data() --> double *", pybind11::return_value_policy::automatic);
-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 2, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 2, 1>::operator()(int, int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 2, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 2, 1>::operator()(int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
-		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 2, 1>::operator[], "C++: mrpt::math::CMatrixFixed<double, 2, 1>::operator[](int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 2, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 2, 1>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 2, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 2, 1>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
+		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 2, 1>::operator[], "C++: mrpt::math::CMatrixFixed<double, 2, 1>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)(const class mrpt::math::CMatrixFixed<double, 2, 1> &)) &mrpt::math::CMatrixFixed<double, 2, 1>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 2, 1>::sum_At(const class mrpt::math::CMatrixFixed<double, 2, 1> &) --> void", pybind11::arg("A"));
 		cl.def("assign", (class mrpt::math::CMatrixFixed<double, 2, 1> & (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)(const class mrpt::math::CMatrixFixed<double, 2, 1> &)) &mrpt::math::CMatrixFixed<double, 2, 1>::operator=, "C++: mrpt::math::CMatrixFixed<double, 2, 1>::operator=(const class mrpt::math::CMatrixFixed<double, 2, 1> &) --> class mrpt::math::CMatrixFixed<double, 2, 1> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
 	}
@@ -114,9 +114,9 @@ void bind_mrpt_math_CMatrixFixed_1(std::function< pybind11::module &(std::string
 		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 6, 1>::rows, "C++: mrpt::math::CMatrixFixed<double, 6, 1>::rows() const --> int");
 		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 6, 1>::cols, "C++: mrpt::math::CMatrixFixed<double, 6, 1>::cols() const --> int");
 		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)()) &mrpt::math::CMatrixFixed<double, 6, 1>::data, "C++: mrpt::math::CMatrixFixed<double, 6, 1>::data() --> double *", pybind11::return_value_policy::automatic);
-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 6, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 6, 1>::operator()(int, int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 6, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 6, 1>::operator()(int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
-		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 6, 1>::operator[], "C++: mrpt::math::CMatrixFixed<double, 6, 1>::operator[](int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 6, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 6, 1>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 6, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 6, 1>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
+		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 6, 1>::operator[], "C++: mrpt::math::CMatrixFixed<double, 6, 1>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)(const class mrpt::math::CMatrixFixed<double, 6, 1> &)) &mrpt::math::CMatrixFixed<double, 6, 1>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 6, 1>::sum_At(const class mrpt::math::CMatrixFixed<double, 6, 1> &) --> void", pybind11::arg("A"));
 	}
 }
diff --git a/python/src/mrpt/math/CMatrixFixed_2.cpp b/python/src/mrpt/math/CMatrixFixed_2.cpp
index 4cfc7c55d..2f75fb4ea 100644
--- a/python/src/mrpt/math/CMatrixFixed_2.cpp
+++ b/python/src/mrpt/math/CMatrixFixed_2.cpp
@@ -38,9 +38,9 @@ void bind_mrpt_math_CMatrixFixed_2(std::function< pybind11::module &(std::string
 		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,7UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 7, 1>::rows, "C++: mrpt::math::CMatrixFixed<double, 7, 1>::rows() const --> int");
 		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,7UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 7, 1>::cols, "C++: mrpt::math::CMatrixFixed<double, 7, 1>::cols() const --> int");
 		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,7UL,1UL>::*)()) &mrpt::math::CMatrixFixed<double, 7, 1>::data, "C++: mrpt::math::CMatrixFixed<double, 7, 1>::data() --> double *", pybind11::return_value_policy::automatic);
-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,7UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 7, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 7, 1>::operator()(int, int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,7UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 7, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 7, 1>::operator()(int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
-		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,7UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 7, 1>::operator[], "C++: mrpt::math::CMatrixFixed<double, 7, 1>::operator[](int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,7UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 7, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 7, 1>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,7UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 7, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 7, 1>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
+		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,7UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 7, 1>::operator[], "C++: mrpt::math::CMatrixFixed<double, 7, 1>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,7UL,1UL>::*)(const class mrpt::math::CMatrixFixed<double, 7, 1> &)) &mrpt::math::CMatrixFixed<double, 7, 1>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 7, 1>::sum_At(const class mrpt::math::CMatrixFixed<double, 7, 1> &) --> void", pybind11::arg("A"));
 	}
 	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
@@ -63,12 +63,23 @@ void bind_mrpt_math_CMatrixFixed_2(std::function< pybind11::module &(std::string
 		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,4UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 4, 1>::rows, "C++: mrpt::math::CMatrixFixed<double, 4, 1>::rows() const --> int");
 		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,4UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 4, 1>::cols, "C++: mrpt::math::CMatrixFixed<double, 4, 1>::cols() const --> int");
 		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,4UL,1UL>::*)()) &mrpt::math::CMatrixFixed<double, 4, 1>::data, "C++: mrpt::math::CMatrixFixed<double, 4, 1>::data() --> double *", pybind11::return_value_policy::automatic);
-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,4UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 4, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 4, 1>::operator()(int, int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,4UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 4, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 4, 1>::operator()(int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
-		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,4UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 4, 1>::operator[], "C++: mrpt::math::CMatrixFixed<double, 4, 1>::operator[](int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,4UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 4, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 4, 1>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,4UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 4, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 4, 1>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
 		cl.def("cast_float", (class mrpt::math::CMatrixFixed<float, 4, 1> (mrpt::math::CMatrixFixed<double,4UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 4, 1>::cast_float, "C++: mrpt::math::CMatrixFixed<double, 4, 1>::cast_float() const --> class mrpt::math::CMatrixFixed<float, 4, 1>");
 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,4UL,1UL>::*)(const class mrpt::math::CMatrixFixed<double, 4, 1> &)) &mrpt::math::CMatrixFixed<double, 4, 1>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 4, 1>::sum_At(const class mrpt::math::CMatrixFixed<double, 4, 1> &) --> void", pybind11::arg("A"));
 		cl.def("assign", (class mrpt::math::CMatrixFixed<double, 4, 1> & (mrpt::math::CMatrixFixed<double,4UL,1UL>::*)(const class mrpt::math::CMatrixFixed<double, 4, 1> &)) &mrpt::math::CMatrixFixed<double, 4, 1>::operator=, "C++: mrpt::math::CMatrixFixed<double, 4, 1>::operator=(const class mrpt::math::CMatrixFixed<double, 4, 1> &) --> class mrpt::math::CMatrixFixed<double, 4, 1> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
+
+		// Manually-added matrix methods:
+		using dat_t = double;
+		using mat_t = mrpt::math::CMatrixFixed<dat_t,4,1>;
+		cl.def("__getitem__", [](const mat_t&self, pybind11::tuple coord) -> dat_t { if (coord.size()==2) return self.coeff(coord[0].cast<size_t>(), coord[1].cast<size_t>()); else if (coord.size()==1) return self[coord[0].cast<size_t>()]; else throw std::invalid_argument("Access with [idx] or [row,col]"); });
+		cl.def("__setitem__", [](mat_t&self, pybind11::tuple coord, dat_t val) { if (coord.size()==2) self.coeffRef(coord[0].cast<size_t>(), coord[1].cast<size_t>())=val; else if (coord.size()==1) self[coord[0].cast<size_t>()]=val; else throw std::invalid_argument("Access with [idx] or [row,col]"); });
+		cl.def("__str__", [](const mat_t& o) -> std::string { return o.asString(); } );
+		cl.def("inMatlabFormat", [](const mat_t& o) -> std::string { return o.inMatlabFormat(); } );
+		cl.def("size", [](const mat_t&self) -> pybind11::tuple { return pybind11::make_tuple(self.cols(),self.rows()); });
+		cl.def_static("Zero", []() -> mat_t { return mat_t::Zero(); }, "Returns a matrix with zeroes");
+		cl.def(pybind11::init( [](pybind11::list vals){ auto m = new mat_t(); const auto nR = vals.size(); if (!nR) return m; const auto nC = vals[0].cast<pybind11::list>().size(); m->setSize(nR,nC); for (size_t r=0;r<nR;r++) { const auto row = vals[r].cast<pybind11::list>(); for (size_t c=0;c<nC;c++) m->coeffRef(r,c) = row[c].cast<dat_t>(); } return m; }));
+		cl.def("to_list", [](const mat_t&self) -> pybind11::list { auto l = pybind11::list(); const auto nR = self.rows(), nC = self.cols(); for (int r=0;r<nR;r++) { auto row = pybind11::list(); l.append(row); for (int c=0;c<nC;c++) row.append(self.coeff(r,c)); } return l; });
 	}
 	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
 		pybind11::class_<mrpt::math::CMatrixFixed<double,4UL,3UL>, std::shared_ptr<mrpt::math::CMatrixFixed<double,4UL,3UL>>> cl(M("mrpt::math"), "CMatrixFixed_double_4UL_3UL_t", "");
@@ -90,9 +101,9 @@ void bind_mrpt_math_CMatrixFixed_2(std::function< pybind11::module &(std::string
 		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)() const) &mrpt::math::CMatrixFixed<double, 4, 3>::rows, "C++: mrpt::math::CMatrixFixed<double, 4, 3>::rows() const --> int");
 		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)() const) &mrpt::math::CMatrixFixed<double, 4, 3>::cols, "C++: mrpt::math::CMatrixFixed<double, 4, 3>::cols() const --> int");
 		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)()) &mrpt::math::CMatrixFixed<double, 4, 3>::data, "C++: mrpt::math::CMatrixFixed<double, 4, 3>::data() --> double *", pybind11::return_value_policy::automatic);
-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 4, 3>::operator(), "C++: mrpt::math::CMatrixFixed<double, 4, 3>::operator()(int, int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 4, 3>::operator(), "C++: mrpt::math::CMatrixFixed<double, 4, 3>::operator()(int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
-		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 4, 3>::operator[], "C++: mrpt::math::CMatrixFixed<double, 4, 3>::operator[](int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 4, 3>::operator(), "C++: mrpt::math::CMatrixFixed<double, 4, 3>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 4, 3>::operator(), "C++: mrpt::math::CMatrixFixed<double, 4, 3>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
+		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 4, 3>::operator[], "C++: mrpt::math::CMatrixFixed<double, 4, 3>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)(const class mrpt::math::CMatrixFixed<double, 4, 3> &)) &mrpt::math::CMatrixFixed<double, 4, 3>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 4, 3>::sum_At(const class mrpt::math::CMatrixFixed<double, 4, 3> &) --> void", pybind11::arg("A"));
 	}
 	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
@@ -114,10 +125,22 @@ void bind_mrpt_math_CMatrixFixed_2(std::function< pybind11::module &(std::string
 		cl.def("rows", (int (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)() const) &mrpt::math::CMatrixFixed<float, 3, 3>::rows, "C++: mrpt::math::CMatrixFixed<float, 3, 3>::rows() const --> int");
 		cl.def("cols", (int (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)() const) &mrpt::math::CMatrixFixed<float, 3, 3>::cols, "C++: mrpt::math::CMatrixFixed<float, 3, 3>::cols() const --> int");
 		cl.def("data", (float * (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)()) &mrpt::math::CMatrixFixed<float, 3, 3>::data, "C++: mrpt::math::CMatrixFixed<float, 3, 3>::data() --> float *", pybind11::return_value_policy::automatic);
-		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)(int, int)) &mrpt::math::CMatrixFixed<float, 3, 3>::operator(), "C++: mrpt::math::CMatrixFixed<float, 3, 3>::operator()(int, int) --> float &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 3, 3>::operator(), "C++: mrpt::math::CMatrixFixed<float, 3, 3>::operator()(int) --> float &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
-		cl.def("__getitem__", (float & (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 3, 3>::operator[], "C++: mrpt::math::CMatrixFixed<float, 3, 3>::operator[](int) --> float &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
+		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)(int, int)) &mrpt::math::CMatrixFixed<float, 3, 3>::operator(), "C++: mrpt::math::CMatrixFixed<float, 3, 3>::operator()(int, int) --> float &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 3, 3>::operator(), "C++: mrpt::math::CMatrixFixed<float, 3, 3>::operator()(int) --> float &", pybind11::return_value_policy::reference, pybind11::arg("i"));
 		cl.def("cast_float", (class mrpt::math::CMatrixFixed<float, 3, 3> (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)() const) &mrpt::math::CMatrixFixed<float, 3, 3>::cast_float, "C++: mrpt::math::CMatrixFixed<float, 3, 3>::cast_float() const --> class mrpt::math::CMatrixFixed<float, 3, 3>");
 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)(const class mrpt::math::CMatrixFixed<float, 3, 3> &)) &mrpt::math::CMatrixFixed<float, 3, 3>::sum_At, "C++: mrpt::math::CMatrixFixed<float, 3, 3>::sum_At(const class mrpt::math::CMatrixFixed<float, 3, 3> &) --> void", pybind11::arg("A"));
+
+		// Manually-added matrix methods:
+		using dat_t = float;
+		using mat_t = mrpt::math::CMatrixFixed<dat_t,3,3>;
+		cl.def("__getitem__", [](const mat_t&self, pybind11::tuple coord) -> dat_t { if (coord.size()==2) return self.coeff(coord[0].cast<size_t>(), coord[1].cast<size_t>()); else if (coord.size()==1) return self[coord[0].cast<size_t>()]; else throw std::invalid_argument("Access with [idx] or [row,col]"); });
+		cl.def("__setitem__", [](mat_t&self, pybind11::tuple coord, dat_t val) { if (coord.size()==2) self.coeffRef(coord[0].cast<size_t>(), coord[1].cast<size_t>())=val; else if (coord.size()==1) self[coord[0].cast<size_t>()]=val; else throw std::invalid_argument("Access with [idx] or [row,col]"); });
+		cl.def("__str__", [](const mat_t& o) -> std::string { return o.asString(); } );
+		cl.def("inMatlabFormat", [](const mat_t& o) -> std::string { return o.inMatlabFormat(); } );
+		cl.def("size", [](const mat_t&self) -> pybind11::tuple { return pybind11::make_tuple(self.cols(),self.rows()); });
+		cl.def_static("Identity", []() -> mat_t { return mat_t::Identity(); }, "Returns the NxN identity matrix");
+		cl.def_static("Zero", []() -> mat_t { return mat_t::Zero(); }, "Returns a matrix with zeroes");
+		cl.def(pybind11::init( [](pybind11::list vals){ auto m = new mat_t(); const auto nR = vals.size(); if (!nR) return m; const auto nC = vals[0].cast<pybind11::list>().size(); m->setSize(nR,nC); for (size_t r=0;r<nR;r++) { const auto row = vals[r].cast<pybind11::list>(); for (size_t c=0;c<nC;c++) m->coeffRef(r,c) = row[c].cast<dat_t>(); } return m; }));
+		cl.def("to_list", [](const mat_t&self) -> pybind11::list { auto l = pybind11::list(); const auto nR = self.rows(), nC = self.cols(); for (int r=0;r<nR;r++) { auto row = pybind11::list(); l.append(row); for (int c=0;c<nC;c++) row.append(self.coeff(r,c)); } return l; });
 	}
 }
diff --git a/python/src/mrpt/math/CMatrixFixed_3.cpp b/python/src/mrpt/math/CMatrixFixed_3.cpp
index 9f57fa132..0192960f3 100644
--- a/python/src/mrpt/math/CMatrixFixed_3.cpp
+++ b/python/src/mrpt/math/CMatrixFixed_3.cpp
@@ -38,12 +38,24 @@ void bind_mrpt_math_CMatrixFixed_3(std::function< pybind11::module &(std::string
 		cl.def("rows", (int (mrpt::math::CMatrixFixed<float,4UL,4UL>::*)() const) &mrpt::math::CMatrixFixed<float, 4, 4>::rows, "C++: mrpt::math::CMatrixFixed<float, 4, 4>::rows() const --> int");
 		cl.def("cols", (int (mrpt::math::CMatrixFixed<float,4UL,4UL>::*)() const) &mrpt::math::CMatrixFixed<float, 4, 4>::cols, "C++: mrpt::math::CMatrixFixed<float, 4, 4>::cols() const --> int");
 		cl.def("data", (float * (mrpt::math::CMatrixFixed<float,4UL,4UL>::*)()) &mrpt::math::CMatrixFixed<float, 4, 4>::data, "C++: mrpt::math::CMatrixFixed<float, 4, 4>::data() --> float *", pybind11::return_value_policy::automatic);
-		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,4UL,4UL>::*)(int, int)) &mrpt::math::CMatrixFixed<float, 4, 4>::operator(), "C++: mrpt::math::CMatrixFixed<float, 4, 4>::operator()(int, int) --> float &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,4UL,4UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 4, 4>::operator(), "C++: mrpt::math::CMatrixFixed<float, 4, 4>::operator()(int) --> float &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
-		cl.def("__getitem__", (float & (mrpt::math::CMatrixFixed<float,4UL,4UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 4, 4>::operator[], "C++: mrpt::math::CMatrixFixed<float, 4, 4>::operator[](int) --> float &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
+		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,4UL,4UL>::*)(int, int)) &mrpt::math::CMatrixFixed<float, 4, 4>::operator(), "C++: mrpt::math::CMatrixFixed<float, 4, 4>::operator()(int, int) --> float &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,4UL,4UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 4, 4>::operator(), "C++: mrpt::math::CMatrixFixed<float, 4, 4>::operator()(int) --> float &", pybind11::return_value_policy::reference, pybind11::arg("i"));
 		cl.def("cast_float", (class mrpt::math::CMatrixFixed<float, 4, 4> (mrpt::math::CMatrixFixed<float,4UL,4UL>::*)() const) &mrpt::math::CMatrixFixed<float, 4, 4>::cast_float, "C++: mrpt::math::CMatrixFixed<float, 4, 4>::cast_float() const --> class mrpt::math::CMatrixFixed<float, 4, 4>");
 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<float,4UL,4UL>::*)(const class mrpt::math::CMatrixFixed<float, 4, 4> &)) &mrpt::math::CMatrixFixed<float, 4, 4>::sum_At, "C++: mrpt::math::CMatrixFixed<float, 4, 4>::sum_At(const class mrpt::math::CMatrixFixed<float, 4, 4> &) --> void", pybind11::arg("A"));
 		cl.def("assign", (class mrpt::math::CMatrixFixed<float, 4, 4> & (mrpt::math::CMatrixFixed<float,4UL,4UL>::*)(const class mrpt::math::CMatrixFixed<float, 4, 4> &)) &mrpt::math::CMatrixFixed<float, 4, 4>::operator=, "C++: mrpt::math::CMatrixFixed<float, 4, 4>::operator=(const class mrpt::math::CMatrixFixed<float, 4, 4> &) --> class mrpt::math::CMatrixFixed<float, 4, 4> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
+
+		// Manually-added matrix methods:
+		using dat_t = float;
+		using mat_t = mrpt::math::CMatrixFixed<dat_t,4,4>;
+		cl.def("__getitem__", [](const mat_t&self, pybind11::tuple coord) -> dat_t { if (coord.size()==2) return self.coeff(coord[0].cast<size_t>(), coord[1].cast<size_t>()); else if (coord.size()==1) return self[coord[0].cast<size_t>()]; else throw std::invalid_argument("Access with [idx] or [row,col]"); });
+		cl.def("__setitem__", [](mat_t&self, pybind11::tuple coord, dat_t val) { if (coord.size()==2) self.coeffRef(coord[0].cast<size_t>(), coord[1].cast<size_t>())=val; else if (coord.size()==1) self[coord[0].cast<size_t>()]=val; else throw std::invalid_argument("Access with [idx] or [row,col]"); });
+		cl.def("__str__", [](const mat_t& o) -> std::string { return o.asString(); } );
+		cl.def("inMatlabFormat", [](const mat_t& o) -> std::string { return o.inMatlabFormat(); } );
+		cl.def("size", [](const mat_t&self) -> pybind11::tuple { return pybind11::make_tuple(self.cols(),self.rows()); });
+		cl.def_static("Identity", []() -> mat_t { return mat_t::Identity(); }, "Returns the NxN identity matrix");
+		cl.def_static("Zero", []() -> mat_t { return mat_t::Zero(); }, "Returns a matrix with zeroes");
+		cl.def(pybind11::init( [](pybind11::list vals){ auto m = new mat_t(); const auto nR = vals.size(); if (!nR) return m; const auto nC = vals[0].cast<pybind11::list>().size(); m->setSize(nR,nC); for (size_t r=0;r<nR;r++) { const auto row = vals[r].cast<pybind11::list>(); for (size_t c=0;c<nC;c++) m->coeffRef(r,c) = row[c].cast<dat_t>(); } return m; }));
+		cl.def("to_list", [](const mat_t&self) -> pybind11::list { auto l = pybind11::list(); const auto nR = self.rows(), nC = self.cols(); for (int r=0;r<nR;r++) { auto row = pybind11::list(); l.append(row); for (int c=0;c<nC;c++) row.append(self.coeff(r,c)); } return l; });
 	}
 	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
 		pybind11::class_<mrpt::math::CMatrixFixed<float,3UL,1UL>, std::shared_ptr<mrpt::math::CMatrixFixed<float,3UL,1UL>>> cl(M("mrpt::math"), "CMatrixFixed_float_3UL_1UL_t", "");
@@ -65,12 +77,23 @@ void bind_mrpt_math_CMatrixFixed_3(std::function< pybind11::module &(std::string
 		cl.def("rows", (int (mrpt::math::CMatrixFixed<float,3UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<float, 3, 1>::rows, "C++: mrpt::math::CMatrixFixed<float, 3, 1>::rows() const --> int");
 		cl.def("cols", (int (mrpt::math::CMatrixFixed<float,3UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<float, 3, 1>::cols, "C++: mrpt::math::CMatrixFixed<float, 3, 1>::cols() const --> int");
 		cl.def("data", (float * (mrpt::math::CMatrixFixed<float,3UL,1UL>::*)()) &mrpt::math::CMatrixFixed<float, 3, 1>::data, "C++: mrpt::math::CMatrixFixed<float, 3, 1>::data() --> float *", pybind11::return_value_policy::automatic);
-		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,3UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<float, 3, 1>::operator(), "C++: mrpt::math::CMatrixFixed<float, 3, 1>::operator()(int, int) --> float &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,3UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 3, 1>::operator(), "C++: mrpt::math::CMatrixFixed<float, 3, 1>::operator()(int) --> float &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
-		cl.def("__getitem__", (float & (mrpt::math::CMatrixFixed<float,3UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 3, 1>::operator[], "C++: mrpt::math::CMatrixFixed<float, 3, 1>::operator[](int) --> float &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
+		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,3UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<float, 3, 1>::operator(), "C++: mrpt::math::CMatrixFixed<float, 3, 1>::operator()(int, int) --> float &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,3UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 3, 1>::operator(), "C++: mrpt::math::CMatrixFixed<float, 3, 1>::operator()(int) --> float &", pybind11::return_value_policy::reference, pybind11::arg("i"));
 		cl.def("cast_float", (class mrpt::math::CMatrixFixed<float, 3, 1> (mrpt::math::CMatrixFixed<float,3UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<float, 3, 1>::cast_float, "C++: mrpt::math::CMatrixFixed<float, 3, 1>::cast_float() const --> class mrpt::math::CMatrixFixed<float, 3, 1>");
 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<float,3UL,1UL>::*)(const class mrpt::math::CMatrixFixed<float, 3, 1> &)) &mrpt::math::CMatrixFixed<float, 3, 1>::sum_At, "C++: mrpt::math::CMatrixFixed<float, 3, 1>::sum_At(const class mrpt::math::CMatrixFixed<float, 3, 1> &) --> void", pybind11::arg("A"));
 		cl.def("assign", (class mrpt::math::CMatrixFixed<float, 3, 1> & (mrpt::math::CMatrixFixed<float,3UL,1UL>::*)(const class mrpt::math::CMatrixFixed<float, 3, 1> &)) &mrpt::math::CMatrixFixed<float, 3, 1>::operator=, "C++: mrpt::math::CMatrixFixed<float, 3, 1>::operator=(const class mrpt::math::CMatrixFixed<float, 3, 1> &) --> class mrpt::math::CMatrixFixed<float, 3, 1> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
+
+		// Manually-added matrix methods:
+		using dat_t = float;
+		using mat_t = mrpt::math::CMatrixFixed<dat_t,3,1>;
+		cl.def("__getitem__", [](const mat_t&self, pybind11::tuple coord) -> dat_t { if (coord.size()==2) return self.coeff(coord[0].cast<size_t>(), coord[1].cast<size_t>()); else if (coord.size()==1) return self[coord[0].cast<size_t>()]; else throw std::invalid_argument("Access with [idx] or [row,col]"); });
+		cl.def("__setitem__", [](mat_t&self, pybind11::tuple coord, dat_t val) { if (coord.size()==2) self.coeffRef(coord[0].cast<size_t>(), coord[1].cast<size_t>())=val; else if (coord.size()==1) self[coord[0].cast<size_t>()]=val; else throw std::invalid_argument("Access with [idx] or [row,col]"); });
+		cl.def("__str__", [](const mat_t& o) -> std::string { return o.asString(); } );
+		cl.def("inMatlabFormat", [](const mat_t& o) -> std::string { return o.inMatlabFormat(); } );
+		cl.def("size", [](const mat_t&self) -> pybind11::tuple { return pybind11::make_tuple(self.cols(),self.rows()); });
+		cl.def_static("Zero", []() -> mat_t { return mat_t::Zero(); }, "Returns a matrix with zeroes");
+		cl.def(pybind11::init( [](pybind11::list vals){ auto m = new mat_t(); const auto nR = vals.size(); if (!nR) return m; const auto nC = vals[0].cast<pybind11::list>().size(); m->setSize(nR,nC); for (size_t r=0;r<nR;r++) { const auto row = vals[r].cast<pybind11::list>(); for (size_t c=0;c<nC;c++) m->coeffRef(r,c) = row[c].cast<dat_t>(); } return m; }));
+		cl.def("to_list", [](const mat_t&self) -> pybind11::list { auto l = pybind11::list(); const auto nR = self.rows(), nC = self.cols(); for (int r=0;r<nR;r++) { auto row = pybind11::list(); l.append(row); for (int c=0;c<nC;c++) row.append(self.coeff(r,c)); } return l; });
 	}
 	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
 		pybind11::class_<mrpt::math::CMatrixFixed<double,12UL,1UL>, std::shared_ptr<mrpt::math::CMatrixFixed<double,12UL,1UL>>> cl(M("mrpt::math"), "CMatrixFixed_double_12UL_1UL_t", "");
@@ -92,9 +115,9 @@ void bind_mrpt_math_CMatrixFixed_3(std::function< pybind11::module &(std::string
 		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 12, 1>::rows, "C++: mrpt::math::CMatrixFixed<double, 12, 1>::rows() const --> int");
 		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 12, 1>::cols, "C++: mrpt::math::CMatrixFixed<double, 12, 1>::cols() const --> int");
 		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)()) &mrpt::math::CMatrixFixed<double, 12, 1>::data, "C++: mrpt::math::CMatrixFixed<double, 12, 1>::data() --> double *", pybind11::return_value_policy::automatic);
-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 12, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 12, 1>::operator()(int, int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 12, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 12, 1>::operator()(int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
-		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 12, 1>::operator[], "C++: mrpt::math::CMatrixFixed<double, 12, 1>::operator[](int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 12, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 12, 1>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 12, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 12, 1>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
+		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 12, 1>::operator[], "C++: mrpt::math::CMatrixFixed<double, 12, 1>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)(const class mrpt::math::CMatrixFixed<double, 12, 1> &)) &mrpt::math::CMatrixFixed<double, 12, 1>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 12, 1>::sum_At(const class mrpt::math::CMatrixFixed<double, 12, 1> &) --> void", pybind11::arg("A"));
 	}
 	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
@@ -117,11 +140,22 @@ void bind_mrpt_math_CMatrixFixed_3(std::function< pybind11::module &(std::string
 		cl.def("rows", (int (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<float, 4, 1>::rows, "C++: mrpt::math::CMatrixFixed<float, 4, 1>::rows() const --> int");
 		cl.def("cols", (int (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<float, 4, 1>::cols, "C++: mrpt::math::CMatrixFixed<float, 4, 1>::cols() const --> int");
 		cl.def("data", (float * (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)()) &mrpt::math::CMatrixFixed<float, 4, 1>::data, "C++: mrpt::math::CMatrixFixed<float, 4, 1>::data() --> float *", pybind11::return_value_policy::automatic);
-		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<float, 4, 1>::operator(), "C++: mrpt::math::CMatrixFixed<float, 4, 1>::operator()(int, int) --> float &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 4, 1>::operator(), "C++: mrpt::math::CMatrixFixed<float, 4, 1>::operator()(int) --> float &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
-		cl.def("__getitem__", (float & (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 4, 1>::operator[], "C++: mrpt::math::CMatrixFixed<float, 4, 1>::operator[](int) --> float &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
+		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<float, 4, 1>::operator(), "C++: mrpt::math::CMatrixFixed<float, 4, 1>::operator()(int, int) --> float &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 4, 1>::operator(), "C++: mrpt::math::CMatrixFixed<float, 4, 1>::operator()(int) --> float &", pybind11::return_value_policy::reference, pybind11::arg("i"));
 		cl.def("cast_float", (class mrpt::math::CMatrixFixed<float, 4, 1> (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<float, 4, 1>::cast_float, "C++: mrpt::math::CMatrixFixed<float, 4, 1>::cast_float() const --> class mrpt::math::CMatrixFixed<float, 4, 1>");
 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)(const class mrpt::math::CMatrixFixed<float, 4, 1> &)) &mrpt::math::CMatrixFixed<float, 4, 1>::sum_At, "C++: mrpt::math::CMatrixFixed<float, 4, 1>::sum_At(const class mrpt::math::CMatrixFixed<float, 4, 1> &) --> void", pybind11::arg("A"));
 		cl.def("assign", (class mrpt::math::CMatrixFixed<float, 4, 1> & (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)(const class mrpt::math::CMatrixFixed<float, 4, 1> &)) &mrpt::math::CMatrixFixed<float, 4, 1>::operator=, "C++: mrpt::math::CMatrixFixed<float, 4, 1>::operator=(const class mrpt::math::CMatrixFixed<float, 4, 1> &) --> class mrpt::math::CMatrixFixed<float, 4, 1> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
+
+		// Manually-added matrix methods:
+		using dat_t = float;
+		using mat_t = mrpt::math::CMatrixFixed<dat_t,4,1>;
+		cl.def("__getitem__", [](const mat_t&self, pybind11::tuple coord) -> dat_t { if (coord.size()==2) return self.coeff(coord[0].cast<size_t>(), coord[1].cast<size_t>()); else if (coord.size()==1) return self[coord[0].cast<size_t>()]; else throw std::invalid_argument("Access with [idx] or [row,col]"); });
+		cl.def("__setitem__", [](mat_t&self, pybind11::tuple coord, dat_t val) { if (coord.size()==2) self.coeffRef(coord[0].cast<size_t>(), coord[1].cast<size_t>())=val; else if (coord.size()==1) self[coord[0].cast<size_t>()]=val; else throw std::invalid_argument("Access with [idx] or [row,col]"); });
+		cl.def("__str__", [](const mat_t& o) -> std::string { return o.asString(); } );
+		cl.def("inMatlabFormat", [](const mat_t& o) -> std::string { return o.inMatlabFormat(); } );
+		cl.def("size", [](const mat_t&self) -> pybind11::tuple { return pybind11::make_tuple(self.cols(),self.rows()); });
+		cl.def_static("Zero", []() -> mat_t { return mat_t::Zero(); }, "Returns a matrix with zeroes");
+		cl.def(pybind11::init( [](pybind11::list vals){ auto m = new mat_t(); const auto nR = vals.size(); if (!nR) return m; const auto nC = vals[0].cast<pybind11::list>().size(); m->setSize(nR,nC); for (size_t r=0;r<nR;r++) { const auto row = vals[r].cast<pybind11::list>(); for (size_t c=0;c<nC;c++) m->coeffRef(r,c) = row[c].cast<dat_t>(); } return m; }));
+		cl.def("to_list", [](const mat_t&self) -> pybind11::list { auto l = pybind11::list(); const auto nR = self.rows(), nC = self.cols(); for (int r=0;r<nR;r++) { auto row = pybind11::list(); l.append(row); for (int c=0;c<nC;c++) row.append(self.coeff(r,c)); } return l; });
 	}
 }
diff --git a/python/src/mrpt/math/CVectorDynamic.cpp b/python/src/mrpt/math/CVectorDynamic.cpp
index 780fbaa83..b9075ff96 100644
--- a/python/src/mrpt/math/CVectorDynamic.cpp
+++ b/python/src/mrpt/math/CVectorDynamic.cpp
@@ -46,8 +46,8 @@ void bind_mrpt_math_CVectorDynamic(std::function< pybind11::module &(std::string
 		cl.def("resize", (void (mrpt::math::CVectorDynamic<double>::*)(std::size_t, bool)) &mrpt::math::CVectorDynamic<double>::resize, "C++: mrpt::math::CVectorDynamic<double>::resize(std::size_t, bool) --> void", pybind11::arg("N"), pybind11::arg("zeroNewElements"));
 		cl.def("push_back", (void (mrpt::math::CVectorDynamic<double>::*)(const double &)) &mrpt::math::CVectorDynamic<double>::push_back, "C++: mrpt::math::CVectorDynamic<double>::push_back(const double &) --> void", pybind11::arg("val"));
 		cl.def("segmentCopy", (class mrpt::math::CVectorDynamic<double> (mrpt::math::CVectorDynamic<double>::*)(int, int) const) &mrpt::math::CVectorDynamic<double>::segmentCopy, "C++: mrpt::math::CVectorDynamic<double>::segmentCopy(int, int) const --> class mrpt::math::CVectorDynamic<double>", pybind11::arg("start"), pybind11::arg("LEN"));
-		cl.def("__call__", (double & (mrpt::math::CVectorDynamic<double>::*)(size_t, size_t)) &mrpt::math::CVectorDynamic<double>::operator(), "C++: mrpt::math::CVectorDynamic<double>::operator()(size_t, size_t) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("__getitem__", (double & (mrpt::math::CVectorDynamic<double>::*)(size_t)) &mrpt::math::CVectorDynamic<double>::operator[], "C++: mrpt::math::CVectorDynamic<double>::operator[](size_t) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("ith"));
+		cl.def("__call__", (double & (mrpt::math::CVectorDynamic<double>::*)(size_t, size_t)) &mrpt::math::CVectorDynamic<double>::operator(), "C++: mrpt::math::CVectorDynamic<double>::operator()(size_t, size_t) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("__getitem__", (double & (mrpt::math::CVectorDynamic<double>::*)(size_t)) &mrpt::math::CVectorDynamic<double>::operator[], "C++: mrpt::math::CVectorDynamic<double>::operator[](size_t) --> double &", pybind11::return_value_policy::reference, pybind11::arg("ith"));
 		cl.def("assign", (class mrpt::math::CVectorDynamic<double> & (mrpt::math::CVectorDynamic<double>::*)(const class mrpt::math::CVectorDynamic<double> &)) &mrpt::math::CVectorDynamic<double>::operator=, "C++: mrpt::math::CVectorDynamic<double>::operator=(const class mrpt::math::CVectorDynamic<double> &) --> class mrpt::math::CVectorDynamic<double> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
 	}
 	{ // mrpt::math::CVectorDynamic file:mrpt/math/CVectorDynamic.h line:32
@@ -70,8 +70,8 @@ void bind_mrpt_math_CVectorDynamic(std::function< pybind11::module &(std::string
 		cl.def("resize", (void (mrpt::math::CVectorDynamic<float>::*)(std::size_t, bool)) &mrpt::math::CVectorDynamic<float>::resize, "C++: mrpt::math::CVectorDynamic<float>::resize(std::size_t, bool) --> void", pybind11::arg("N"), pybind11::arg("zeroNewElements"));
 		cl.def("push_back", (void (mrpt::math::CVectorDynamic<float>::*)(const float &)) &mrpt::math::CVectorDynamic<float>::push_back, "C++: mrpt::math::CVectorDynamic<float>::push_back(const float &) --> void", pybind11::arg("val"));
 		cl.def("segmentCopy", (class mrpt::math::CVectorDynamic<float> (mrpt::math::CVectorDynamic<float>::*)(int, int) const) &mrpt::math::CVectorDynamic<float>::segmentCopy, "C++: mrpt::math::CVectorDynamic<float>::segmentCopy(int, int) const --> class mrpt::math::CVectorDynamic<float>", pybind11::arg("start"), pybind11::arg("LEN"));
-		cl.def("__call__", (float & (mrpt::math::CVectorDynamic<float>::*)(size_t, size_t)) &mrpt::math::CVectorDynamic<float>::operator(), "C++: mrpt::math::CVectorDynamic<float>::operator()(size_t, size_t) --> float &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("__getitem__", (float & (mrpt::math::CVectorDynamic<float>::*)(size_t)) &mrpt::math::CVectorDynamic<float>::operator[], "C++: mrpt::math::CVectorDynamic<float>::operator[](size_t) --> float &", pybind11::return_value_policy::automatic, pybind11::arg("ith"));
+		cl.def("__call__", (float & (mrpt::math::CVectorDynamic<float>::*)(size_t, size_t)) &mrpt::math::CVectorDynamic<float>::operator(), "C++: mrpt::math::CVectorDynamic<float>::operator()(size_t, size_t) --> float &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("__getitem__", (float & (mrpt::math::CVectorDynamic<float>::*)(size_t)) &mrpt::math::CVectorDynamic<float>::operator[], "C++: mrpt::math::CVectorDynamic<float>::operator[](size_t) --> float &", pybind11::return_value_policy::reference, pybind11::arg("ith"));
 		cl.def("assign", (class mrpt::math::CVectorDynamic<float> & (mrpt::math::CVectorDynamic<float>::*)(const class mrpt::math::CVectorDynamic<float> &)) &mrpt::math::CVectorDynamic<float>::operator=, "C++: mrpt::math::CVectorDynamic<float>::operator=(const class mrpt::math::CVectorDynamic<float> &) --> class mrpt::math::CVectorDynamic<float> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
 	}
 }