diff --git a/modules/python/bindings/CMakeLists.txt b/modules/python/bindings/CMakeLists.txt
index 9f62524a58..55864de695 100644
--- a/modules/python/bindings/CMakeLists.txt
+++ b/modules/python/bindings/CMakeLists.txt
@@ -38,15 +38,42 @@ set_source_files_properties(${python_bindings_cpp_src} PROPERTIES GENERATED TRUE
 
 pybind11_add_module(_visp ${python_bindings_cpp_src})
 
+
+
+
 # Place library in build/modules/python/bindings dir so that it doesn't pollute lib dir
 # This .so file is not treated the same as the others and we shouldn't link against it when compiling in C++
 # when installing the python module, pip will look into this subfolder for .so files to copy into the site-packages
 file(MAKE_DIRECTORY "${bindings_gen_location}/src")
 
+get_target_property(PYTHON_CXX_FLAGS _visp COMPILE_OPTIONS)
+get_target_property( PYTHON_LINKER_FLAGS _visp LINK_OPTIONS)
+
+
+set_target_properties(_visp PROPERTIES COMPILE_FLAGS ${PYTHON_CXX_FLAGS})
+if(PYTHON_CXX_FLAGS STREQUAL "PYTHON_CXX_FLAGS-NOTFOUND")
+  SET(PYTHON_CXX_FLAGS "") # Set to empty string
+else()
+  SET(PYTHON_CXX_FLAGS "${PYTHON_CXX_FLAGS} ") # A space to cleanly separate from existing content
+endif()
+if(PYTHON_LINKER_FLAGS STREQUAL "PYTHON_LINKER_FLAGS-NOTFOUND")
+SET(PYTHON_LINKER_FLAGS "") # Set to empty string
+else()
+SET(PYTHON_LINKER_FLAGS "${PYTHON_LINKER_FLAGS} ") # A space to cleanly separate from existing content
+endif()
+CHECK_CXX_COMPILER_FLAG("-flto=auto" COMPILER_SUPPORTS_FLTOAUTO)
+if(COMPILER_SUPPORTS_FLTOAUTO)
+  SET(PYTHON_CXX_FLAGS  "${PYTHON_CXX_FLAGS} -flto=auto")
+  SET(PYTHON_LINKER_FLAGS  "${PYTHON_LINKER_FLAGS} -flto=auto")
+endif()
+
+set_target_properties(_visp PROPERTIES COMPILE_FLAGS ${PYTHON_CXX_FLAGS})
+set_target_properties(_visp PROPERTIES LINK_FLAGS ${PYTHON_LINKER_FLAGS})
+
+
 set_target_properties(_visp PROPERTIES
   LIBRARY_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
   RUNTIME_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
-
 )
 # With MSVC, the compiled pyd file is placed in a Release/Debug folder
 set(build_configs "NONE" "RELEASE" "DEBUG" "RELEASEWITHDEBINFO" "RELWITHDEBINFO")
diff --git a/modules/python/config/rbt.json b/modules/python/config/rbt.json
index eb1680fa79..46480c17c0 100644
--- a/modules/python/config/rbt.json
+++ b/modules/python/config/rbt.json
@@ -23,6 +23,268 @@
             "vpRBDriftDetector"
           ]
         }
+      ],
+      "acknowledge_pointer_or_ref_fields": [
+        "std::map<std::string, std::function<std::shared_ptr<T>(const nlohmann::json&)>>",
+        "std::function<std::string(const nlohmann::json&)>"
+      ]
+    },
+    "vpRBTracker": {
+      "methods": [
+        {
+          "static": false,
+          "signature": "const vpRBFeatureTrackerInput& getMostRecentFrame()",
+          "return_policy": "reference",
+          "keep_alive": [
+            [
+              1,
+              0
+            ]
+          ],
+          "returns_ref_ok": true
+        },
+        {
+          "static": false,
+          "signature": "const vpRBTrackerLogger& getLogger()",
+          "return_policy": "reference",
+          "keep_alive": [
+            [
+              1,
+              0
+            ]
+          ],
+          "returns_ref_ok": true
+        },
+        {
+          "static": false,
+          "signature": "vpObjectCentricRenderer& getRenderer()",
+          "return_policy": "reference",
+          "keep_alive": [
+            [
+              1,
+              0
+            ]
+          ],
+          "returns_ref_ok": true
+        }
+      ]
+    },
+    "vpRBRenderData": {
+      "methods": [
+        {
+          "static": false,
+          "signature": " vpRBRenderData(vpRBRenderData&&)",
+          "ignore": true
+        },
+        {
+          "static": false,
+          "signature": "vpRBRenderData& operator=(vpRBRenderData&&)",
+          "ignore": true
+        }
+      ]
+    },
+    "vpRBFeatureTrackerInput": {
+      "methods": [
+        {
+          "static": false,
+          "signature": " vpRBFeatureTrackerInput(vpRBFeatureTrackerInput&&)",
+          "ignore": true
+        },
+        {
+          "static": false,
+          "signature": "vpRBFeatureTrackerInput& operator=(vpRBFeatureTrackerInput&&)",
+          "ignore": true
+        }
+      ]
+    },
+    "vpRBFeatureTracker": {
+      "methods": [
+        {
+          "static": false,
+          "signature": "const vpColVector& getWeightedError()",
+          "return_policy": "reference",
+          "keep_alive": [
+            [
+              1,
+              0
+            ]
+          ],
+          "returns_ref_ok": true
+        }
+      ]
+    },
+    "vpRBSilhouetteControlPoint": {
+      "acknowledge_pointer_or_ref_fields": [
+        "const vpMe*",
+        "const vpCameraParameters*"
+      ],
+      "methods": [
+        {
+          "static": false,
+          "signature": " vpRBSilhouetteControlPoint(const vpRBSilhouetteControlPoint&&)",
+          "ignore": true
+        },
+        {
+          "static": false,
+          "signature": "vpRBSilhouetteControlPoint& operator=(const vpRBSilhouetteControlPoint&&)",
+          "ignore": true
+        },
+        {
+          "static": false,
+          "signature": "const vpLine& getLine()",
+          "return_policy": "reference",
+          "keep_alive": [
+            [
+              1,
+              0
+            ]
+          ],
+          "returns_ref_ok": true
+        },
+        {
+          "static": false,
+          "signature": "const vpFeatureLine& getFeatureLine()",
+          "return_policy": "reference",
+          "keep_alive": [
+            [
+              1,
+              0
+            ]
+          ],
+          "returns_ref_ok": true
+        },
+        {
+          "static": false,
+          "signature": "vpMeSite& getSite()",
+          "return_policy": "reference",
+          "keep_alive": [
+            [
+              1,
+              0
+            ]
+          ],
+          "returns_ref_ok": true
+        },
+        {
+          "static": false,
+          "signature": "const vpMeSite& getSite()",
+          "return_policy": "reference",
+          "keep_alive": [
+            [
+              1,
+              0
+            ]
+          ],
+          "returns_ref_ok": true
+        },
+        {
+          "static": false,
+          "signature": "const vpCameraParameters& getCameraParameters()",
+          "return_policy": "reference",
+          "keep_alive": [
+            [
+              1,
+              0
+            ]
+          ],
+          "returns_ref_ok": true
+        }
+      ]
+    },
+    "vpRBKltTracker": {
+      "methods": [
+        {
+          "static": false,
+          "signature": "vpKltOpencv& getKltTracker()",
+          "return_policy": "reference",
+          "keep_alive": [
+            [
+              1,
+              0
+            ]
+          ],
+          "returns_ref_ok": true
+        },
+        {
+          "static": false,
+          "signature": "const vpKltOpencv& getKltTracker()",
+          "ignore": true
+        }
+      ]
+    },
+    "vpRBDriftDetectorFactory": {
+      "methods": [
+        {
+          "static": true,
+          "signature": "vpRBDriftDetectorFactory& getFactory()",
+          "return_policy": "reference",
+          "keep_alive": [
+            [
+              1,
+              0
+            ]
+          ],
+          "returns_ref_ok": true
+        }
+      ]
+    },
+    "vpObjectMaskFactory": {
+      "methods": [
+        {
+          "static": true,
+          "signature": "vpObjectMaskFactory& getFactory()",
+          "return_policy": "reference",
+          "keep_alive": [
+            [
+              1,
+              0
+            ]
+          ],
+          "returns_ref_ok": true
+        }
+      ]
+    },
+    "vpRBFeatureTrackerFactory": {
+      "methods": [
+        {
+          "static": true,
+          "signature": "vpRBFeatureTrackerFactory& getFactory()",
+          "return_policy": "reference",
+          "keep_alive": [
+            [
+              1,
+              0
+            ]
+          ],
+          "returns_ref_ok": true
+        }
+      ]
+    },
+    "vpObjectCentricRenderer": {
+      "methods": [
+        {
+          "static": false,
+          "signature": "void computeClipping(float&, float&)",
+          "use_default_param_policy": false,
+          "param_is_input": [
+            false,
+            false
+          ],
+          "param_is_output": [
+            true,
+            true
+          ]
+        }
+      ]
+    },
+    "vpPanda3DDepthGaussianBlur": {
+      "acknowledge_pointer_or_ref_fields": [
+        "const char*"
+      ]
+    },
+    "vpPanda3DDepthCannyFilter": {
+      "acknowledge_pointer_or_ref_fields": [
+        "const char*"
       ]
     }
   },