diff --git a/python/generate-python-stubs.sh b/python/generate-python-stubs.sh
new file mode 100755
index 0000000000..07e4efd0b1
--- /dev/null
+++ b/python/generate-python-stubs.sh
@@ -0,0 +1,19 @@
+#!/bin/bash
+# Usage: ./generate-python-stubs.sh 
+# To be run *after* building pymrpt.
+
+
+# Generate stub .pyi files:
+echo "Generating stub pyi files..."
+export PYTHONPATH=$(realpath $(pwd)/../build-Release/)
+if compgen -G "$PYTHONPATH/mrpt/pymrpt*.so" > /dev/null; then
+    echo "Using mrpt module found under: $PYTHONPATH"
+else
+    echo "$PYTHONPATH does not seem to contain a compiled pymrpt module!"
+    exit 1
+fi
+stubgen -p mrpt -p mrpt.pymrpt -o stubs-out
+
+# applying manual patches to stubs:
+echo "Applying manual patches to stubs..."
+find . -name "patch-stubs*.diff" | xargs -I FIL bash -c "echo FIL && git apply FIL"
diff --git a/python/generate-python.sh b/python/generate-python.sh
index 2281664882..1759f09a22 100755
--- a/python/generate-python.sh
+++ b/python/generate-python.sh
@@ -93,8 +93,6 @@ find $WRAP_OUT_DIR -name "*.cpp" | 	xargs -I FIL \
 	sed -i -e 's/(long)/(int64_t)/g' FIL
 
 # applying manual patches:
-echo "Applying manual patches..."
-find . -name "*.diff" | xargs -I FIL bash -c "git apply FIL"
+echo "Applying manual patches to pybind11 code..."
+find . -name "patch-0*.diff" | xargs -I FIL bash -c "echo FIL && git apply FIL"
 
-# Generate stub .pyi files:
-stubgen -p mrpt -p mrpt.pymrpt -o stubs-out
diff --git a/python/patch-009.diff b/python/patch-stubs-001.diff
similarity index 100%
rename from python/patch-009.diff
rename to python/patch-stubs-001.diff
diff --git a/python/src/mrpt/opengl/DefaultShaders.cpp b/python/src/mrpt/opengl/DefaultShaders.cpp
index 29f71a4b6d..40e71d1c66 100644
--- a/python/src/mrpt/opengl/DefaultShaders.cpp
+++ b/python/src/mrpt/opengl/DefaultShaders.cpp
@@ -68,7 +68,7 @@ void bind_mrpt_opengl_DefaultShaders(std::function< pybind11::module &(std::stri
 		pybind11::class_<mrpt::opengl::DefaultShaderID, std::shared_ptr<mrpt::opengl::DefaultShaderID>> cl(M("mrpt::opengl"), "DefaultShaderID", "");
 		cl.def( pybind11::init( [](){ return new mrpt::opengl::DefaultShaderID(); } ) );
 	}
-	{ // mrpt::opengl::TRenderMatrices file:mrpt/opengl/TRenderMatrices.h line:28
+	{ // mrpt::opengl::TRenderMatrices file:mrpt/opengl/TRenderMatrices.h line:29
 		pybind11::class_<mrpt::opengl::TRenderMatrices, std::shared_ptr<mrpt::opengl::TRenderMatrices>> cl(M("mrpt::opengl"), "TRenderMatrices", "Rendering state related to the projection and model-view matrices.\n Used to store matrices that will be sent to shaders.\n\n The homogeneous coordinates of a rendered point comes from the product\n (from right to left) of MODEL, VIEW and PROJECTION matrices:\n\n  p = p_matrix * v_matrix * m_matrix * [x y z 1.0]'\n\n \n\n ");
 		cl.def( pybind11::init( [](){ return new mrpt::opengl::TRenderMatrices(); } ) );
 		cl.def( pybind11::init( [](mrpt::opengl::TRenderMatrices const &o){ return new mrpt::opengl::TRenderMatrices(o); } ) );
@@ -88,7 +88,6 @@ void bind_mrpt_opengl_DefaultShaders(std::function< pybind11::module &(std::stri
 		cl.def_readwrite("azimuth", &mrpt::opengl::TRenderMatrices::azimuth);
 		cl.def_readwrite("elev", &mrpt::opengl::TRenderMatrices::elev);
 		cl.def_readwrite("eyeDistance", &mrpt::opengl::TRenderMatrices::eyeDistance);
-		cl.def_readwrite("eyeDistance2lightShadowExtension", &mrpt::opengl::TRenderMatrices::eyeDistance2lightShadowExtension);
 		cl.def_readwrite("viewport_width", &mrpt::opengl::TRenderMatrices::viewport_width);
 		cl.def_readwrite("viewport_height", &mrpt::opengl::TRenderMatrices::viewport_height);
 		cl.def_readwrite("initialized", &mrpt::opengl::TRenderMatrices::initialized);
@@ -98,7 +97,7 @@ void bind_mrpt_opengl_DefaultShaders(std::function< pybind11::module &(std::stri
 		cl.def_readwrite("up", &mrpt::opengl::TRenderMatrices::up);
 		cl.def("matricesSetIdentity", (void (mrpt::opengl::TRenderMatrices::*)()) &mrpt::opengl::TRenderMatrices::matricesSetIdentity, "C++: mrpt::opengl::TRenderMatrices::matricesSetIdentity() --> void");
 		cl.def("computeProjectionMatrix", (void (mrpt::opengl::TRenderMatrices::*)(float, float)) &mrpt::opengl::TRenderMatrices::computeProjectionMatrix, "Uses is_projective , vw,vh, etc. and computes p_matrix from either:\n  - pinhole_model if set, or\n  - FOV, otherwise.\n Replacement for obsolete: gluPerspective() and glOrtho() \n\nC++: mrpt::opengl::TRenderMatrices::computeProjectionMatrix(float, float) --> void", pybind11::arg("zmin"), pybind11::arg("zmax"));
-		cl.def("computeLightProjectionMatrix", (void (mrpt::opengl::TRenderMatrices::*)(float, float, const struct mrpt::math::TPoint3D_<float> &)) &mrpt::opengl::TRenderMatrices::computeLightProjectionMatrix, "Updates light_pv \n\nC++: mrpt::opengl::TRenderMatrices::computeLightProjectionMatrix(float, float, const struct mrpt::math::TPoint3D_<float> &) --> void", pybind11::arg("zmin"), pybind11::arg("zmax"), pybind11::arg("direction"));
+		cl.def("computeLightProjectionMatrix", (void (mrpt::opengl::TRenderMatrices::*)(float, float, const struct mrpt::opengl::TLightParameters &)) &mrpt::opengl::TRenderMatrices::computeLightProjectionMatrix, "Updates light_pv \n\nC++: mrpt::opengl::TRenderMatrices::computeLightProjectionMatrix(float, float, const struct mrpt::opengl::TLightParameters &) --> void", pybind11::arg("zmin"), pybind11::arg("zmax"), pybind11::arg("lp"));
 		cl.def("computeOrthoProjectionMatrix", (void (mrpt::opengl::TRenderMatrices::*)(float, float, float, float, float, float)) &mrpt::opengl::TRenderMatrices::computeOrthoProjectionMatrix, "Especial case for custom parameters of Orthographic projection.\n  Equivalent to `p_matrix = ortho(...);`.\n\n Replacement for obsolete: glOrtho()\n\nC++: mrpt::opengl::TRenderMatrices::computeOrthoProjectionMatrix(float, float, float, float, float, float) --> void", pybind11::arg("left"), pybind11::arg("right"), pybind11::arg("bottom"), pybind11::arg("top"), pybind11::arg("znear"), pybind11::arg("zfar"));
 		cl.def_static("OrthoProjectionMatrix", (class mrpt::math::CMatrixFixed<float, 4, 4> (*)(float, float, float, float, float, float)) &mrpt::opengl::TRenderMatrices::OrthoProjectionMatrix, "Computes and returns an orthographic projection matrix.\n  Equivalent to obsolete glOrtho() or glm::ortho().\n\nC++: mrpt::opengl::TRenderMatrices::OrthoProjectionMatrix(float, float, float, float, float, float) --> class mrpt::math::CMatrixFixed<float, 4, 4>", pybind11::arg("left"), pybind11::arg("right"), pybind11::arg("bottom"), pybind11::arg("top"), pybind11::arg("znear"), pybind11::arg("zfar"));
 		cl.def("computeNoProjectionMatrix", (void (mrpt::opengl::TRenderMatrices::*)(float, float)) &mrpt::opengl::TRenderMatrices::computeNoProjectionMatrix, "Especial case: no projection, opengl coordinates are pixels from (0,0)\n bottom-left corner.\n\nC++: mrpt::opengl::TRenderMatrices::computeNoProjectionMatrix(float, float) --> void", pybind11::arg("znear"), pybind11::arg("zfar"));
@@ -142,6 +141,7 @@ void bind_mrpt_opengl_DefaultShaders(std::function< pybind11::module &(std::stri
 		cl.def_readwrite("shadow_bias", &mrpt::opengl::TLightParameters::shadow_bias);
 		cl.def_readwrite("shadow_bias_cam2frag", &mrpt::opengl::TLightParameters::shadow_bias_cam2frag);
 		cl.def_readwrite("shadow_bias_normal", &mrpt::opengl::TLightParameters::shadow_bias_normal);
+		cl.def_readwrite("eyeDistance2lightShadowExtension", &mrpt::opengl::TLightParameters::eyeDistance2lightShadowExtension);
 		cl.def("writeToStream", (void (mrpt::opengl::TLightParameters::*)(class mrpt::serialization::CArchive &) const) &mrpt::opengl::TLightParameters::writeToStream, "C++: mrpt::opengl::TLightParameters::writeToStream(class mrpt::serialization::CArchive &) const --> void", pybind11::arg("out"));
 		cl.def("readFromStream", (void (mrpt::opengl::TLightParameters::*)(class mrpt::serialization::CArchive &)) &mrpt::opengl::TLightParameters::readFromStream, "C++: mrpt::opengl::TLightParameters::readFromStream(class mrpt::serialization::CArchive &) --> void", pybind11::arg("in"));
 		cl.def("assign", (struct mrpt::opengl::TLightParameters & (mrpt::opengl::TLightParameters::*)(const struct mrpt::opengl::TLightParameters &)) &mrpt::opengl::TLightParameters::operator=, "C++: mrpt::opengl::TLightParameters::operator=(const struct mrpt::opengl::TLightParameters &) --> struct mrpt::opengl::TLightParameters &", pybind11::return_value_policy::automatic, pybind11::arg(""));
diff --git a/python/stubs-out/mrpt/pymrpt/mrpt/opengl/__init__.pyi b/python/stubs-out/mrpt/pymrpt/mrpt/opengl/__init__.pyi
index 237845e70f..dbd2f10ab9 100644
--- a/python/stubs-out/mrpt/pymrpt/mrpt/opengl/__init__.pyi
+++ b/python/stubs-out/mrpt/pymrpt/mrpt/opengl/__init__.pyi
@@ -3605,6 +3605,7 @@ class TLightParameters:
     color: mrpt.pymrpt.mrpt.img.TColorf
     diffuse: float
     direction: Any
+    eyeDistance2lightShadowExtension: float
     shadow_bias: float
     shadow_bias_cam2frag: float
     shadow_bias_normal: float
@@ -3660,7 +3661,6 @@ class TRenderMatrices:
     elev: float
     eye: Any
     eyeDistance: float
-    eyeDistance2lightShadowExtension: float
     initialized: bool
     is1stShadowMapPass: bool
     is_projective: bool
@@ -3686,7 +3686,7 @@ class TRenderMatrices:
     def LookAt(self, *args, **kwargs) -> Any: ...
     def OrthoProjectionMatrix(self, *args, **kwargs) -> Any: ...
     def assign(self) -> TRenderMatrices: ...
-    def computeLightProjectionMatrix(self, zmin: float, zmax: float, direction) -> None: ...
+    def computeLightProjectionMatrix(self, zmin: float, zmax: float, lp) -> None: ...
     def computeNoProjectionMatrix(self, znear: float, zfar: float) -> None: ...
     def computeOrthoProjectionMatrix(self, *args, **kwargs) -> Any: ...
     def computeProjectionMatrix(self, *args, **kwargs) -> Any: ...
diff --git a/python/stubs-out/mrpt/pymrpt/std/chrono.pyi b/python/stubs-out/mrpt/pymrpt/std/chrono.pyi
index 6ab9717938..dbc88f81c0 100644
--- a/python/stubs-out/mrpt/pymrpt/std/chrono.pyi
+++ b/python/stubs-out/mrpt/pymrpt/std/chrono.pyi
@@ -37,6 +37,6 @@ class time_point_mrpt_Clock_std_chrono_duration_long_std_ratio_1_10000000_t:
     def max(self, *args, **kwargs) -> Any: ...
     def min(self, *args, **kwargs) -> Any: ...
     def time_since_epoch(self) -> duration_long_std_ratio_1_10000000_t: ...
-    def to_double()(self, *args, **kwargs) -> Any: ...
+    def to_double(self) -> float: ...
     def __iadd__(self, __dur: duration_long_std_ratio_1_10000000_t) -> time_point_mrpt_Clock_std_chrono_duration_long_std_ratio_1_10000000_t: ...
     def __isub__(self, __dur: duration_long_std_ratio_1_10000000_t) -> time_point_mrpt_Clock_std_chrono_duration_long_std_ratio_1_10000000_t: ...