Merge pull request #1855 from Nerei:master

24465bbd · Roman Donchenko · OpenCV Buildbot · 8db53c17 · 4c66b876 · 24465bbd
Commit 24465bbd authored Dec 09, 2013 by Roman Donchenko Committed by OpenCV Buildbot Dec 09, 2013
21 changed files
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -116,6 +116,7 @@ endif()
 OCV_OPTION(WITH_1394           "Include IEEE1394 support"                    ON   IF (NOT ANDROID AND NOT IOS) )
 OCV_OPTION(WITH_AVFOUNDATION   "Use AVFoundation for Video I/O"              ON   IF IOS)
 OCV_OPTION(WITH_CARBON         "Use Carbon for UI instead of Cocoa"          OFF  IF APPLE )
+OCV_OPTION(WITH_VTK            "Include VTK library support (and build opencv_viz module eiher)"             OFF IF (NOT ANDROID AND NOT IOS) )
 OCV_OPTION(WITH_CUDA           "Include NVidia Cuda Runtime support"                                         ON  IF (NOT IOS) )
 OCV_OPTION(WITH_CUFFT          "Include NVidia Cuda Fast Fourier Transform (FFT) library support"            ON  IF (NOT IOS) )
 OCV_OPTION(WITH_CUBLAS         "Include NVidia Cuda Basic Linear Algebra Subprograms (BLAS) library support" OFF IF (NOT IOS) )
@@ -430,6 +431,8 @@ endif()
 # --- Matlab/Octave ---
 include(cmake/OpenCVFindMatlab.cmake)
+include(cmake/OpenCVDetectVTK.cmake)
 # ----------------------------------------------------------------------------
 # Add CUDA libraries (needed for apps/tools, samples)
 # ----------------------------------------------------------------------------
@@ -659,6 +662,7 @@ else()
 endif()
 status("    OpenGL support:" HAVE_OPENGL THEN "YES (${OPENGL_LIBRARIES})" ELSE NO)
+status("    VTK support:" HAVE_VTK THEN "YES (ver ${VTK_VERSION})" ELSE NO)
 # ========================== MEDIA IO ==========================
 status("")

--- a/cmake/OpenCVDetectVTK.cmake
+++ b/cmake/OpenCVDetectVTK.cmake
+if(NOT WITH_VTK OR ANDROID OR IOS)
+  return()
+endif()
+find_package(VTK 6.0 QUIET COMPONENTS vtkRenderingCore vtkInteractionWidgets vtkInteractionStyle vtkIOLegacy vtkIOPLY vtkRenderingFreeType vtkRenderingLOD vtkFiltersTexture NO_MODULE)
+if(NOT DEFINED VTK_FOUND OR NOT VTK_FOUND)
+  find_package(VTK 5.10 QUIET COMPONENTS vtkCommon vtkFiltering vtkRendering vtkWidgets vtkImaging NO_MODULE)
+endif()
+if(NOT DEFINED VTK_FOUND OR NOT VTK_FOUND)
+  find_package(VTK 5.8 QUIET COMPONENTS vtkCommon vtkFiltering vtkRendering vtkWidgets vtkImaging NO_MODULE)
+endif()
+if(VTK_FOUND)
+  set(HAVE_VTK ON)
+  message(STATUS "Found VTK ver. ${VTK_VERSION} (usefile: ${VTK_USE_FILE})")
+else()
+  set(HAVE_VTK OFF)
+  message(STATUS "VTK is not found. Please set -DVTK_DIR in CMake to VTK build directory, or set $VTK_DIR enviroment variable to VTK install subdirectory with VTKConfig.cmake file (for windows)")
+endif()
\ No newline at end of file
--- a/modules/calib3d/test/test_affine3.cpp
+++ b/modules/calib3d/test/test_affine3.cpp
@@ -79,3 +79,30 @@ TEST(Calib3d_Affine3f, accuracy)
    ASSERT_LT(cv::norm(diff, cv::NORM_INF), 1e-15);
 }
+TEST(Calib3d_Affine3f, accuracy_rvec)
+{
+    cv::RNG rng;
+    typedef float T;
+    cv::Affine3<T>::Vec3 w;
+    cv::Affine3<T>::Mat3 u, vt, R;
+    for(int i = 0; i < 100; ++i)
+    {
+        rng.fill(R, cv::RNG::UNIFORM, -10, 10, true);
+        cv::SVD::compute(R, w, u, vt, cv::SVD::FULL_UV + cv::SVD::MODIFY_A);
+        R = u * vt;
+        //double s = (double)cv::getTickCount();
+        cv::Affine3<T>::Vec3 va = cv::Affine3<T>(R).rvec();
+        //std::cout << "M:" <<(cv::getTickCount() - s)*1000/cv::getTickFrequency() << std::endl;
+        cv::Affine3<T>::Vec3 vo;
+        //s = (double)cv::getTickCount();
+        cv::Rodrigues(R, vo);
+        //std::cout << "O:" <<(cv::getTickCount() - s)*1000/cv::getTickFrequency() << std::endl;
+        ASSERT_LT(cv::norm(va - vo), 1e-9);
+    }
+}
--- a/modules/core/include/opencv2/core/affine.hpp
+++ b/modules/core/include/opencv2/core/affine.hpp
@@ -51,7 +51,7 @@
 namespace cv
 {
    template<typename T>
-    class CV_EXPORTS Affine3
+    class Affine3
    {
    public:
        typedef T float_type;
@@ -97,6 +97,9 @@ namespace cv
        Mat3 linear() const;
        Vec3 translation() const;
+        //Rodrigues vector
+        Vec3 rvec() const;
        Affine3 inv(int method = cv::DECOMP_SVD) const;
        // a.rotate(R) is equivalent to Affine(R, 0) * a;
@@ -158,9 +161,9 @@ cv::Affine3<T>::Affine3(const Mat3& R, const Vec3& t)
 }
 template<typename T> inline
-cv::Affine3<T>::Affine3(const Vec3& rvec, const Vec3& t)
+cv::Affine3<T>::Affine3(const Vec3& _rvec, const Vec3& t)
 {
-    rotation(rvec);
+    rotation(_rvec);
    translation(t);
    matrix.val[12] = matrix.val[13] = matrix.val[14] = 0;
    matrix.val[15] = 1;
@@ -205,9 +208,9 @@ void cv::Affine3<T>::rotation(const Mat3& R)
 }
 template<typename T> inline
-void cv::Affine3<T>::rotation(const Vec3& rvec)
+void cv::Affine3<T>::rotation(const Vec3& _rvec)
 {
-    double rx = rvec[0], ry = rvec[1], rz = rvec[2];
+    double rx = _rvec[0], ry = _rvec[1], rz = _rvec[2];
    double theta = std::sqrt(rx*rx + ry*ry + rz*rz);
    if (theta < DBL_EPSILON)
@@ -250,9 +253,9 @@ void cv::Affine3<T>::rotation(const cv::Mat& data)
    }
    else if ((data.cols == 3 && data.rows == 1) || (data.cols == 1 && data.rows == 3))
    {
-        Vec3 rvec;
+        Vec3 _rvec;
-        data.reshape(1, 3).copyTo(rvec);
+        data.reshape(1, 3).copyTo(_rvec);
-        rotation(rvec);
+        rotation(_rvec);
    }
    else
        CV_Assert(!"Input marix can be 3x3, 1x3 or 3x1");
@@ -300,6 +303,55 @@ typename cv::Affine3<T>::Vec3 cv::Affine3<T>::translation() const
    return Vec3(matrix.val[3], matrix.val[7], matrix.val[11]);
 }
+template<typename T> inline
+typename cv::Affine3<T>::Vec3 cv::Affine3<T>::rvec() const
+{
+    cv::Vec3d w;
+    cv::Matx33d u, vt, R = rotation();
+    cv::SVD::compute(R, w, u, vt, cv::SVD::FULL_UV + cv::SVD::MODIFY_A);
+    R = u * vt;
+    double rx = R.val[7] - R.val[5];
+    double ry = R.val[2] - R.val[6];
+    double rz = R.val[3] - R.val[1];
+    double s = std::sqrt((rx*rx + ry*ry + rz*rz)*0.25);
+    double c = (R.val[0] + R.val[4] + R.val[8] - 1) * 0.5;
+    c = c > 1.0 ? 1.0 : c < -1.0 ? -1.0 : c;
+    double theta = acos(c);
+    if( s < 1e-5 )
+    {
+        if( c > 0 )
+            rx = ry = rz = 0;
+        else
+        {
+            double t;
+            t = (R.val[0] + 1) * 0.5;
+            rx = std::sqrt(std::max(t, 0.0));
+            t = (R.val[4] + 1) * 0.5;
+            ry = std::sqrt(std::max(t, 0.0)) * (R.val[1] < 0 ? -1.0 : 1.0);
+            t = (R.val[8] + 1) * 0.5;
+            rz = std::sqrt(std::max(t, 0.0)) * (R.val[2] < 0 ? -1.0 : 1.0);
+            if( fabs(rx) < fabs(ry) && fabs(rx) < fabs(rz) && (R.val[5] > 0) != (ry*rz > 0) )
+                rz = -rz;
+            theta /= std::sqrt(rx*rx + ry*ry + rz*rz);
+            rx *= theta;
+            ry *= theta;
+            rz *= theta;
+        }
+    }
+    else
+    {
+        double vth = 1/(2*s);
+        vth *= theta;
+        rx *= vth; ry *= vth; rz *= vth;
+    }
+    return cv::Vec3d(rx, ry, rz);
+}
 template<typename T> inline
 cv::Affine3<T> cv::Affine3<T>::inv(int method) const
 {

--- a/modules/core/include/opencv2/core/operations.hpp
+++ b/modules/core/include/opencv2/core/operations.hpp
@@ -436,7 +436,7 @@ int print(const std::vector<Point3_<_Tp> >& vec, FILE* stream = stdout)
 template<typename _Tp, int m, int n> static inline
 int print(const Matx<_Tp, m, n>& matx, FILE* stream = stdout)
 {
-    return print(Formatter::get()->format(matx), stream);
+    return print(Formatter::get()->format(cv::Mat(matx)), stream);
 }

--- a/modules/highgui/src/cap_openni.cpp
+++ b/modules/highgui/src/cap_openni.cpp
@@ -152,7 +152,7 @@ public:
        task = new( tbb::task::allocate_root() ) TBBApproximateSynchronizerTask( *this );
        tbb::task::enqueue(*task);
 #else
-        task->reset( new ApproximateSynchronizer( *this ) );
+        task.reset( new ApproximateSynchronizer( *this ) );
 #endif
    }

--- a/modules/viz/CMakeLists.txt
+++ b/modules/viz/CMakeLists.txt
-macro(find_qvtk)
+if(NOT WITH_VTK OR NOT DEFINED HAVE_VTK OR NOT HAVE_VTK)
-  find_library (QVTK_LIBRARY QVTK HINTS ${VTK_DIR} ${VTK_DIR}/bin)
+  ocv_module_disable(viz)
-  find_path (QVTK_INCLUDE_DIR QVTKWidget.h HINT ${VTK_INCLUDE_DIRS})
-  find_package_handle_standard_args(QVTK DEFAULT_MSG QVTK_LIBRARY QVTK_INCLUDE_DIR)
-  if(QVTK_FOUND)
-    get_filename_component (QVTK_LIBRARY_DIR ${QVTK_LIBRARY} PATH)
-    list(APPEND VTK_LIBRARY_DIRS ${QVTK_LIBRARY_DIR})
-    list(APPEND VTK_INCLUDE_DIRS ${QVTK_INCLUDE_DIR})
-    set (VTK_USE_QVTK ON)
-  endif()
-endmacro()
-macro(find_vtk)
-  find_package(VTK)
-  if(${VTK_MAJOR_VERSION} LESS 5)
-    MESSAGE(FATAL_ERROR "VTK 5 or more required!")
-  endif()
-  if(VTK_FOUND)
-    if (BUILD_SHARED_LIBS OR (NOT BUILD_SHARED_LIBS AND NOT VTK_BUILD_SHARED_LIBS))
-      find_qvtk()
-      message(STATUS "VTK found (include: ${VTK_INCLUDE_DIRS}, lib: ${VTK_LIBRARY_DIRS})")
-      link_directories(${VTK_LIBRARY_DIRS})
-      include_directories(SYSTEM ${VTK_INCLUDE_DIRS})
-      set(HAVE_VTK ON)
-    else ()
-      set(HAVE_VTK OFF)
-      message (FATAL_ERROR "VTK disabled. You are to build OpenCV in STATIC but VTK is SHARED!")
-    endif ()
-  endif()
-endmacro()
-if (NOT OPENCV_INITIAL_PASS AND DEFINED BUILD_opencv_viz AND BUILD_opencv_viz)
-  find_vtk()
-endif()
-if(DEFINED HAVE_VTK AND HAVE_VTK)
-  set(VTK_USE_FILE ${VTK_USE_FILE} CACHE INTERNAL "VTK_USE_FILE")
-  include (${VTK_USE_FILE})
-  add_definitions(-DHAVE_VTK)
 endif()
+include(${VTK_USE_FILE})
 set(the_description "Viz")
-set(BUILD_opencv_viz_INIT OFF)
+ocv_define_module(viz opencv_core ${VTK_LIBRARIES})
-include_directories(src)
-ocv_define_module(viz opencv_core)
-if(DEFINED BUILD_opencv_viz AND BUILD_opencv_viz AND DEFINED HAVE_VTK AND HAVE_VTK)
+if(APPLE AND BUILD_opencv_viz)
-  if (${VTK_VERSION_MAJOR} EQUAL 5)
-    target_link_libraries(opencv_viz vtkCommon vtkWidgets vtkFiltering vtkRendering)
-  else()
-    target_link_libraries(opencv_viz vtkViewsCore vtkRenderingLOD vtkIOPLY vtkRenderingFreeTypeOpenGL vtkRenderingVolumeOpenGL vtkFiltersTexture)
-  endif()
-  if(APPLE)
  target_link_libraries(opencv_viz "-framework Cocoa")
-  endif()
 endif()
--- a/modules/viz/doc/viz3d.rst
+++ b/modules/viz/doc/viz3d.rst
@@ -76,68 +76,6 @@ Checks **point** for nan
        :param p: return true if **any** of the elements of the point is *nan*.
-viz::VizAccessor
----------------
-.. ocv:class:: VizAccessor
-A singleton class that provides access by name infrastructure for 3D visualization windows. ::
-    class CV_EXPORTS VizAccessor
-    {
-    public:
-        static VizAccessor & getInstance();
-        static void release();
-        Viz3d get(const String &window_name);
-        //! window names automatically have Viz - prefix even though not provided by the users
-        static void generateWindowName(const String &window_name, String &output);
-    private:
-        /* hidden */
-    };
-viz::VizAccessor::getInstance
-----------------------------
-Returns the single instance of VizAccessor.
-.. ocv:function:: static VizAccessor & getInstance()
-viz::VizAccessor::release
-------------------------
-Deletes the single instance of VizAccessor.
-.. ocv:function:: static void release()
-viz::VizAccessor::get
---------------------
-Retrieves a window by its name.
-.. ocv:function:: Viz3d get(const String &window_name)
-    :param window_name: Name of the window that is to be retrieved.
-This function returns a :ocv:class:`Viz3d` object with the given name.
-.. note:: If the window with that name already exists, that window is returned. Otherwise, new window is created with the given name, and it is returned.
-.. note:: Window names are automatically prefixed by "Viz - " if it is not done by the user.
-          .. code-block:: cpp
-                /// window and window_2 are the same windows.
-                viz::Viz3d window   = viz::get("myWindow");
-                viz::Viz3d window_2 = viz::get("Viz - myWindow");
-viz::VizAccessor::generateWindowName
------------------------------------
-Generates a window name by prefixing "Viz - " if it has not already been prefixed.
-.. ocv:function:: static void generateWindowName(const String &window_name, String &output)
-    :param window_name: Window name
-    :param output: Prefixed window name
 viz::Viz3d
 ----------
 .. ocv:class:: Viz3d

--- a/modules/viz/doc/widget.rst
+++ b/modules/viz/doc/widget.rst
@@ -262,8 +262,8 @@ This 3D Widget defines a finite plane. ::
    class CV_EXPORTS WPlane : public Widget3D
    {
    public:
-        WPlane(const Vec4f& coefs, double size = 1.0, const Color &color = Color::white());
+        WPlane(const Vec4f& coefs, float size = 1.0, const Color &color = Color::white());
-        WPlane(const Vec4f& coefs, const Point3f& pt, double size = 1.0, const Color &color = Color::white());
+        WPlane(const Vec4f& coefs, const Point3f& pt, float size = 1.0, const Color &color = Color::white());
    private:
        /* hidden */
    };
@@ -272,13 +272,13 @@ viz::WPlane::WPlane
 -------------------
 Constructs a WPlane.
-.. ocv:function:: WPlane(const Vec4f& coefs, double size = 1.0, const Color &color = Color::white())
+.. ocv:function:: WPlane(const Vec4f& coefs, float size = 1.0, const Color &color = Color::white())
    :param coefs: Plane coefficients as in (A,B,C,D) where Ax + By + Cz + D = 0.
    :param size: Size of the plane.
    :param color: :ocv:class:`Color` of the plane.
-.. ocv:function:: WPlane(const Vec4f& coefs, const Point3f& pt, double size = 1.0, const Color &color = Color::white())
+.. ocv:function:: WPlane(const Vec4f& coefs, const Point3f& pt, float size = 1.0, const Color &color = Color::white())
    :param coefs: Plane coefficients as in (A,B,C,D) where Ax + By + Cz + D = 0.
    :param pt: Position of the plane.
@@ -317,14 +317,14 @@ This 3D Widget defines an arrow. ::
    class CV_EXPORTS WArrow : public Widget3D
    {
    public:
-        WArrow(const Point3f& pt1, const Point3f& pt2, double thickness = 0.03, const Color &color = Color::white());
+        WArrow(const Point3f& pt1, const Point3f& pt2, float thickness = 0.03, const Color &color = Color::white());
    };
 viz::WArrow::WArrow
 -----------------------------
 Constructs an WArrow.
-.. ocv:function:: WArrow(const Point3f& pt1, const Point3f& pt2, double thickness = 0.03, const Color &color = Color::white())
+.. ocv:function:: WArrow(const Point3f& pt1, const Point3f& pt2, float thickness = 0.03, const Color &color = Color::white())
    :param pt1: Start point of the arrow.
    :param pt2: End point of the arrow.
@@ -342,14 +342,14 @@ This 3D Widget defines a circle. ::
    class CV_EXPORTS WCircle : public Widget3D
    {
    public:
-        WCircle(const Point3f& pt, double radius, double thickness = 0.01, const Color &color = Color::white());
+        WCircle(const Point3f& pt, float radius, float thickness = 0.01, const Color &color = Color::white());
    };
 viz::WCircle::WCircle
 -------------------------------
 Constructs a WCircle.
-.. ocv:function:: WCircle(const Point3f& pt, double radius, double thickness = 0.01, const Color &color = Color::white())
+.. ocv:function:: WCircle(const Point3f& pt, float radius, float thickness = 0.01, const Color &color = Color::white())
    :param pt: Center of the circle.
    :param radius: Radius of the circle.
@@ -365,14 +365,14 @@ This 3D Widget defines a cylinder. ::
    class CV_EXPORTS WCylinder : public Widget3D
    {
    public:
-        WCylinder(const Point3f& pt_on_axis, const Point3f& axis_direction, double radius, int numsides = 30, const Color &color = Color::white());
+        WCylinder(const Point3f& pt_on_axis, const Point3f& axis_direction, float radius, int numsides = 30, const Color &color = Color::white());
    };
 viz::WCylinder::WCylinder
 -----------------------------------
 Constructs a WCylinder.
-.. ocv:function:: WCylinder(const Point3f& pt_on_axis, const Point3f& axis_direction, double radius, int numsides = 30, const Color &color = Color::white())
+.. ocv:function:: WCylinder(const Point3f& pt_on_axis, const Point3f& axis_direction, float radius, int numsides = 30, const Color &color = Color::white())
    :param pt_on_axis: A point on the axis of the cylinder.
    :param axis_direction: Direction of the axis of the cylinder.
@@ -416,14 +416,14 @@ This 3D Widget represents a coordinate system. ::
    class CV_EXPORTS WCoordinateSystem : public Widget3D
    {
    public:
-        WCoordinateSystem(double scale = 1.0);
+        WCoordinateSystem(float scale = 1.0);
    };
 viz::WCoordinateSystem::WCoordinateSystem
 ---------------------------------------------------
 Constructs a WCoordinateSystem.
-.. ocv:function:: WCoordinateSystem(double scale = 1.0)
+.. ocv:function:: WCoordinateSystem(float scale = 1.0)
    :param scale: Determines the size of the axes.
@@ -494,7 +494,7 @@ This 3D Widget represents 3D text. The text always faces the camera. ::
    class CV_EXPORTS WText3D : public Widget3D
    {
    public:
-        WText3D(const String &text, const Point3f &position, double text_scale = 1.0, double face_camera = true, const Color &color = Color::white());
+        WText3D(const String &text, const Point3f &position, float text_scale = 1.0, bool face_camera = true, const Color &color = Color::white());
        void setText(const String &text);
        String getText() const;
@@ -504,7 +504,7 @@ viz::WText3D::WText3D
 -------------------------------
 Constructs a WText3D.
-.. ocv:function:: WText3D(const String &text, const Point3f &position, double text_scale = 1.0, double face_camera = true, const Color &color = Color::white())
+.. ocv:function:: WText3D(const String &text, const Point3f &position, float text_scale = 1.0, bool face_camera = true, const Color &color = Color::white())
    :param text: Text content of the widget.
    :param position: Position of the text.
@@ -649,15 +649,15 @@ This 3D Widget represents camera position in a scene by its axes or viewing frus
    {
    public:
        //! Creates camera coordinate frame (axes) at the origin
-        WCameraPosition(double scale = 1.0);
+        WCameraPosition(float scale = 1.0);
        //! Creates frustum based on the intrinsic marix K at the origin
-        WCameraPosition(const Matx33f &K, double scale = 1.0, const Color &color = Color::white());
+        WCameraPosition(const Matx33f &K, float scale = 1.0, const Color &color = Color::white());
        //! Creates frustum based on the field of view at the origin
-        WCameraPosition(const Vec2f &fov, double scale = 1.0, const Color &color = Color::white());
+        WCameraPosition(const Vec2f &fov, float scale = 1.0, const Color &color = Color::white());
        //! Creates frustum and display given image at the far plane
-        WCameraPosition(const Matx33f &K, const Mat &img, double scale = 1.0, const Color &color = Color::white());
+        WCameraPosition(const Matx33f &K, const Mat &img, float scale = 1.0, const Color &color = Color::white());
        //! Creates frustum and display given image at the far plane
-        WCameraPosition(const Vec2f &fov, const Mat &img, double scale = 1.0, const Color &color = Color::white());
+        WCameraPosition(const Vec2f &fov, const Mat &img, float scale = 1.0, const Color &color = Color::white());
    };
 viz::WCameraPosition::WCameraPosition
@@ -666,7 +666,7 @@ Constructs a WCameraPosition.
 - **Display camera coordinate frame.**
-    .. ocv:function:: WCameraPosition(double scale = 1.0)
+    .. ocv:function:: WCameraPosition(float scale = 1.0)
        Creates camera coordinate frame at the origin.
@@ -676,7 +676,7 @@ Constructs a WCameraPosition.
 - **Display the viewing frustum.**
-    .. ocv:function:: WCameraPosition(const Matx33f &K, double scale = 1.0, const Color &color = Color::white())
+    .. ocv:function:: WCameraPosition(const Matx33f &K, float scale = 1.0, const Color &color = Color::white())
        :param K: Intrinsic matrix of the camera.
        :param scale: Scale of the frustum.
@@ -684,7 +684,7 @@ Constructs a WCameraPosition.
        Creates viewing frustum of the camera based on its intrinsic matrix K.
-    .. ocv:function:: WCameraPosition(const Vec2f &fov, double scale = 1.0, const Color &color = Color::white())
+    .. ocv:function:: WCameraPosition(const Vec2f &fov, float scale = 1.0, const Color &color = Color::white())
        :param fov: Field of view of the camera (horizontal, vertical).
        :param scale: Scale of the frustum.
@@ -698,7 +698,7 @@ Constructs a WCameraPosition.
 - **Display image on the far plane of the viewing frustum.**
-    .. ocv:function:: WCameraPosition(const Matx33f &K, const Mat &img, double scale = 1.0, const Color &color = Color::white())
+    .. ocv:function:: WCameraPosition(const Matx33f &K, const Mat &img, float scale = 1.0, const Color &color = Color::white())
        :param K: Intrinsic matrix of the camera.
        :param img: BGR or Gray-Scale image that is going to be displayed on the far plane of the frustum.
@@ -707,7 +707,7 @@ Constructs a WCameraPosition.
        Creates viewing frustum of the camera based on its intrinsic matrix K, and displays image on the far end plane.
-    .. ocv:function:: WCameraPosition(const Vec2f &fov, const Mat &img, double scale = 1.0, const Color &color = Color::white())
+    .. ocv:function:: WCameraPosition(const Vec2f &fov, const Mat &img, float scale = 1.0, const Color &color = Color::white())
        :param fov: Field of view of the camera (horizontal, vertical).
        :param img: BGR or Gray-Scale image that is going to be displayed on the far plane of the frustum.
@@ -732,11 +732,11 @@ This 3D Widget represents a trajectory. ::
        enum {DISPLAY_FRAMES = 1, DISPLAY_PATH = 2};
        //! Displays trajectory of the given path either by coordinate frames or polyline
-        WTrajectory(const std::vector<Affine3f> &path, int display_mode = WTrajectory::DISPLAY_PATH, const Color &color = Color::white(), double scale = 1.0);
+        WTrajectory(const std::vector<Affine3f> &path, int display_mode = WTrajectory::DISPLAY_PATH, const Color &color = Color::white(), float scale = 1.0);
        //! Displays trajectory of the given path by frustums
-        WTrajectory(const std::vector<Affine3f> &path, const Matx33f &K, double scale = 1.0, const Color &color = Color::white());
+        WTrajectory(const std::vector<Affine3f> &path, const Matx33f &K, float scale = 1.0, const Color &color = Color::white());
        //! Displays trajectory of the given path by frustums
-        WTrajectory(const std::vector<Affine3f> &path, const Vec2f &fov, double scale = 1.0, const Color &color = Color::white());
+        WTrajectory(const std::vector<Affine3f> &path, const Vec2f &fov, float scale = 1.0, const Color &color = Color::white());
    private:
        /* hidden */
@@ -746,7 +746,7 @@ viz::WTrajectory::WTrajectory
 -----------------------------
 Constructs a WTrajectory.
-.. ocv:function:: WTrajectory(const std::vector<Affine3f> &path, int display_mode = WTrajectory::DISPLAY_PATH, const Color &color = Color::white(), double scale = 1.0)
+.. ocv:function:: WTrajectory(const std::vector<Affine3f> &path, int display_mode = WTrajectory::DISPLAY_PATH, const Color &color = Color::white(), float scale = 1.0)
    :param path: List of poses on a trajectory.
    :param display_mode: Display mode. This can be DISPLAY_PATH, DISPLAY_FRAMES, DISPLAY_PATH & DISPLAY_FRAMES.
@@ -759,7 +759,7 @@ Constructs a WTrajectory.
    * DISPLAY_FRAMES : Displays coordinate frames at each pose.
    * DISPLAY_PATH & DISPLAY_FRAMES : Displays both poly line and coordinate frames.
-.. ocv:function:: WTrajectory(const std::vector<Affine3f> &path, const Matx33f &K, double scale = 1.0, const Color &color = Color::white())
+.. ocv:function:: WTrajectory(const std::vector<Affine3f> &path, const Matx33f &K, float scale = 1.0, const Color &color = Color::white())
    :param path: List of poses on a trajectory.
    :param K: Intrinsic matrix of the camera.
@@ -768,7 +768,7 @@ Constructs a WTrajectory.
    Displays frustums at each pose of the trajectory.
-.. ocv:function:: WTrajectory(const std::vector<Affine3f> &path, const Vec2f &fov, double scale = 1.0, const Color &color = Color::white())
+.. ocv:function:: WTrajectory(const std::vector<Affine3f> &path, const Vec2f &fov, float scale = 1.0, const Color &color = Color::white())
    :param path: List of poses on a trajectory.
    :param fov: Field of view of the camera (horizontal, vertical).
@@ -788,7 +788,7 @@ represent the direction from previous position to the current. ::
    {
    public:
        WSpheresTrajectory(const std::vector<Affine3f> &path, float line_length = 0.05f,
-                    double init_sphere_radius = 0.021, sphere_radius = 0.007,
+                    float init_sphere_radius = 0.021, sphere_radius = 0.007,
                    Color &line_color = Color::white(), const Color &sphere_color = Color::white());
    };
@@ -796,7 +796,7 @@ viz::WSpheresTrajectory::WSpheresTrajectory
 -------------------------------------------
 Constructs a WSpheresTrajectory.
-.. ocv:function:: WSpheresTrajectory(const std::vector<Affine3f> &path, float line_length = 0.05f, double init_sphere_radius = 0.021, double sphere_radius = 0.007, const Color &line_color = Color::white(), const Color &sphere_color = Color::white())
+.. ocv:function:: WSpheresTrajectory(const std::vector<Affine3f> &path, float line_length = 0.05f, float init_sphere_radius = 0.021, float sphere_radius = 0.007, const Color &line_color = Color::white(), const Color &sphere_color = Color::white())
    :param path: List of poses on a trajectory.
    :param line_length: Length of the lines.

--- a/modules/viz/include/opencv2/viz.hpp
+++ b/modules/viz/include/opencv2/viz.hpp
@@ -63,9 +63,12 @@ namespace cv
        //! constructs camera pose from position, focal_point and up_vector (see gluLookAt() for more infromation)
        CV_EXPORTS Affine3f makeCameraPose(const Vec3f& position, const Vec3f& focal_point, const Vec3f& y_dir);
-        //! retrieves a window by its name
+        //! retrieves a window by its name. If no window with such name, then it creates new.
        CV_EXPORTS Viz3d get(const String &window_name);
+        //! Unregisters all Viz windows from internal database. After it 'get()' will create new windows instead getting existing from the database.
+        CV_EXPORTS void unregisterAllWindows();
        //! checks float value for Nan
        inline bool isNan(float x)
        {
@@ -88,32 +91,6 @@ namespace cv
        template<typename _Tp> inline bool isNan(const Point3_<_Tp>& p)
        { return isNan(p.x) || isNan(p.y) || isNan(p.z); }
-        //! helper class that provides access by name infrastructure
-        class CV_EXPORTS VizAccessor
-        {
-        public:
-            static VizAccessor & getInstance();
-            static void release();
-            Viz3d get(const String &window_name);
-            //! window names automatically have Viz - prefix even though not provided by the users
-            static void generateWindowName(const String &window_name, String &output);
-        private:
-            VizAccessor(); // Singleton
-            ~VizAccessor();
-            void add(Viz3d window);
-            void remove(const String &window_name);
-            static VizAccessor * instance_;
-            struct VizAccessorImpl;
-            VizAccessorImpl * impl_;
-            friend class Viz3d;
-        };
    } /* namespace viz */
 } /* namespace cv */

--- a/modules/viz/include/opencv2/viz/types.hpp
+++ b/modules/viz/include/opencv2/viz/types.hpp
@@ -176,8 +176,8 @@ namespace cv
 /// cv::viz::Color
 inline cv::viz::Color::Color() : Scalar(0, 0, 0) {}
-inline cv::viz::Color::Color(double gray) : Scalar(gray, gray, gray) {}
+inline cv::viz::Color::Color(double _gray) : Scalar(_gray, _gray, _gray) {}
-inline cv::viz::Color::Color(double blue, double green, double red) : Scalar(blue, green, red) {}
+inline cv::viz::Color::Color(double _blue, double _green, double _red) : Scalar(_blue, _green, _red) {}
 inline cv::viz::Color::Color(const Scalar& color) : Scalar(color) {}
 inline cv::viz::Color cv::viz::Color::black()   { return Color(  0,   0, 0); }

--- a/modules/viz/include/opencv2/viz/viz3d.hpp
+++ b/modules/viz/include/opencv2/viz/viz3d.hpp
@@ -49,7 +49,7 @@
 #ifndef __OPENCV_VIZ_VIZ3D_HPP__
 #define __OPENCV_VIZ_VIZ3D_HPP__
-#if !defined YES_I_AGREE_THAT_VIZ_API_IS_NOT_STABLE_NOW_AND_BINARY_COMPARTIBILITY_WONT_BE_SUPPORTED
+#if !defined YES_I_AGREE_THAT_VIZ_API_IS_NOT_STABLE_NOW_AND_BINARY_COMPARTIBILITY_WONT_BE_SUPPORTED && !defined CVAPI_EXPORTS
    //#error "Viz is in beta state now. Please define macro above to use it"
 #endif
@@ -64,7 +64,6 @@ namespace cv
        class CV_EXPORTS Viz3d
        {
        public:
-            typedef cv::Ptr<Viz3d> Ptr;
            typedef void (*KeyboardCallback)(const KeyboardEvent&, void*);
            typedef void (*MouseCallback)(const MouseEvent&, void*);
@@ -122,6 +121,8 @@ namespace cv
            void create(const String &window_name);
            void release();
+            friend class VizStorage;
        };
    } /* namespace viz */

--- a/modules/viz/include/opencv2/viz/widgets.hpp
+++ b/modules/viz/include/opencv2/viz/widgets.hpp
@@ -143,8 +143,8 @@ namespace cv
        class CV_EXPORTS WPlane : public Widget3D
        {
        public:
-            WPlane(const Vec4f& coefs, double size = 1.0, const Color &color = Color::white());
+            WPlane(const Vec4f& coefs, float size = 1.f, const Color &color = Color::white());
-            WPlane(const Vec4f& coefs, const Point3f& pt, double size = 1.0, const Color &color = Color::white());
+            WPlane(const Vec4f& coefs, const Point3f& pt, float size = 1.f, const Color &color = Color::white());
        private:
            struct SetSizeImpl;
        };
@@ -158,19 +158,19 @@ namespace cv
        class CV_EXPORTS WArrow : public Widget3D
        {
        public:
-            WArrow(const Point3f& pt1, const Point3f& pt2, double thickness = 0.03, const Color &color = Color::white());
+            WArrow(const Point3f& pt1, const Point3f& pt2, float thickness = 0.03f, const Color &color = Color::white());
        };
        class CV_EXPORTS WCircle : public Widget3D
        {
        public:
-            WCircle(const Point3f& pt, double radius, double thickness = 0.01, const Color &color = Color::white());
+            WCircle(const Point3f& pt, float radius, float thickness = 0.01f, const Color &color = Color::white());
        };
        class CV_EXPORTS WCylinder : public Widget3D
        {
        public:
-            WCylinder(const Point3f& pt_on_axis, const Point3f& axis_direction, double radius, int numsides = 30, const Color &color = Color::white());
+            WCylinder(const Point3f& pt_on_axis, const Point3f& axis_direction, float radius, int numsides = 30, const Color &color = Color::white());
        };
        class CV_EXPORTS WCube : public Widget3D
@@ -182,7 +182,7 @@ namespace cv
        class CV_EXPORTS WCoordinateSystem : public Widget3D
        {
        public:
-            WCoordinateSystem(double scale = 1.0);
+            WCoordinateSystem(float scale = 1.f);
        };
        class CV_EXPORTS WPolyLine : public Widget3D
@@ -210,7 +210,7 @@ namespace cv
        class CV_EXPORTS WText3D : public Widget3D
        {
        public:
-            WText3D(const String &text, const Point3f &position, double text_scale = 1.0, bool face_camera = true, const Color &color = Color::white());
+            WText3D(const String &text, const Point3f &position, float text_scale = 1.f, bool face_camera = true, const Color &color = Color::white());
            void setText(const String &text);
            String getText() const;
@@ -248,15 +248,15 @@ namespace cv
        {
        public:
            //! Creates camera coordinate frame (axes) at the origin
-            WCameraPosition(double scale = 1.0);
+            WCameraPosition(float scale = 1.f);
            //! Creates frustum based on the intrinsic marix K at the origin
-            WCameraPosition(const Matx33f &K, double scale = 1.0, const Color &color = Color::white());
+            WCameraPosition(const Matx33f &K, float scale = 1.f, const Color &color = Color::white());
            //! Creates frustum based on the field of view at the origin
-            WCameraPosition(const Vec2f &fov, double scale = 1.0, const Color &color = Color::white());
+            WCameraPosition(const Vec2f &fov, float scale = 1.f, const Color &color = Color::white());
            //! Creates frustum and display given image at the far plane
-            WCameraPosition(const Matx33f &K, const Mat &img, double scale = 1.0, const Color &color = Color::white());
+            WCameraPosition(const Matx33f &K, const Mat &img, float scale = 1.f, const Color &color = Color::white());
            //! Creates frustum and display given image at the far plane
-            WCameraPosition(const Vec2f &fov, const Mat &img, double scale = 1.0, const Color &color = Color::white());
+            WCameraPosition(const Vec2f &fov, const Mat &img, float scale = 1.f, const Color &color = Color::white());
        private:
            struct ProjectImage;
@@ -268,11 +268,11 @@ namespace cv
            enum {DISPLAY_FRAMES = 1, DISPLAY_PATH = 2};
            //! Displays trajectory of the given path either by coordinate frames or polyline
-            WTrajectory(const std::vector<Affine3f> &path, int display_mode = WTrajectory::DISPLAY_PATH, const Color &color = Color::white(), double scale = 1.0);
+            WTrajectory(const std::vector<Affine3f> &path, int display_mode = WTrajectory::DISPLAY_PATH, const Color &color = Color::white(), float scale = 1.f);
            //! Displays trajectory of the given path by frustums
-            WTrajectory(const std::vector<Affine3f> &path, const Matx33f &K, double scale = 1.0, const Color &color = Color::white());
+            WTrajectory(const std::vector<Affine3f> &path, const Matx33f &K, float scale = 1.f, const Color &color = Color::white());
            //! Displays trajectory of the given path by frustums
-            WTrajectory(const std::vector<Affine3f> &path, const Vec2f &fov, double scale = 1.0, const Color &color = Color::white());
+            WTrajectory(const std::vector<Affine3f> &path, const Vec2f &fov, float scale = 1.f, const Color &color = Color::white());
        private:
            struct ApplyPath;
@@ -281,8 +281,8 @@ namespace cv
        class CV_EXPORTS WSpheresTrajectory: public Widget3D
        {
        public:
-            WSpheresTrajectory(const std::vector<Affine3f> &path, float line_length = 0.05f, double init_sphere_radius = 0.021,
+            WSpheresTrajectory(const std::vector<Affine3f> &path, float line_length = 0.05f, float init_sphere_radius = 0.021f,
-                                    double sphere_radius = 0.007, const Color &line_color = Color::white(), const Color &sphere_color = Color::white());
+                                    float sphere_radius = 0.007f, const Color &line_color = Color::white(), const Color &sphere_color = Color::white());
        };
        class CV_EXPORTS WCloud: public Widget3D

--- a/modules/viz/src/interactor_style.h
+++ b/modules/viz/src/interactor_style.h
--- a/modules/viz/src/precomp.hpp
+++ b/modules/viz/src/precomp.hpp
@@ -54,14 +54,6 @@
 #include <list>
 #include <vector>
-#if defined __GNUC__
-#pragma GCC system_header
-#ifdef __DEPRECATED
-#undef __DEPRECATED
-#define __DEPRECATED_DISABLED__
-#endif
-#endif
 #include <vtkAppendPolyData.h>
 #include <vtkAssemblyPath.h>
 #include <vtkCellData.h>
@@ -70,7 +62,6 @@
 #include <vtkSmartPointer.h>
 #include <vtkDataSet.h>
 #include <vtkPolygon.h>
-#include <vtkPointPicker.h>
 #include <vtkUnstructuredGrid.h>
 #include <vtkDiskSource.h>
 #include <vtkPlaneSource.h>
@@ -105,7 +96,6 @@
 #include <vtkCamera.h>
 #include <vtkObjectFactory.h>
 #include <vtkPlanes.h>
-#include <vtkImageViewer.h>
 #include <vtkImageFlip.h>
 #include <vtkRenderWindow.h>
 #include <vtkTextProperty.h>
@@ -119,11 +109,7 @@
 #include <vtkTextureMapToPlane.h>
 #include <vtkPolyDataNormals.h>
 #include <vtkAlgorithmOutput.h>
+#include <vtkImageMapper.h>
-#if defined __GNUC__ && defined __DEPRECATED_DISABLED__
-#define __DEPRECATED
-#undef __DEPRECATED_DISABLED__
-#endif
 #include <opencv2/core.hpp>
 #include <opencv2/viz.hpp>
@@ -135,20 +121,34 @@ namespace cv
    namespace viz
    {
        typedef std::map<String, vtkSmartPointer<vtkProp> > WidgetActorMap;
-    }
+        typedef std::map<String, Viz3d> VizMap;
-}
-#include "interactor_style.h"
-#include "viz3d_impl.hpp"
-namespace cv
+        class VizStorage
-{
-    namespace viz
        {
-        typedef std::map<String, Viz3d> VizMap;
+        public:
-        typedef std::pair<String, Viz3d> VizPair;
+            static void unregisterAll();
+            //! window names automatically have Viz - prefix even though not provided by the users
+            static String generateWindowName(const String &window_name);
+        private:
+            VizStorage(); // Static
+            ~VizStorage();
+            static void add(const Viz3d& window);
+            static Viz3d& get(const String &window_name);
+            static void remove(const String &window_name);
+            static bool windowExists(const String &window_name);
+            static void removeUnreferenced();
+            static VizMap storage;
+            friend class Viz3d;
+        };
    }
 }
+#include "interactor_style.hpp"
+#include "viz3d_impl.hpp"
 #endif
--- a/modules/viz/src/shape_widgets.cpp
+++ b/modules/viz/src/shape_widgets.cpp
@@ -104,7 +104,7 @@ struct cv::viz::WPlane::SetSizeImpl
    }
 };
-cv::viz::WPlane::WPlane(const Vec4f& coefs, double size, const Color &color)
+cv::viz::WPlane::WPlane(const Vec4f& coefs, float size, const Color &color)
 {
    vtkSmartPointer<vtkPlaneSource> plane = vtkSmartPointer<vtkPlaneSource>::New();
    plane->SetNormal(coefs[0], coefs[1], coefs[2]);
@@ -124,7 +124,7 @@ cv::viz::WPlane::WPlane(const Vec4f& coefs, double size, const Color &color)
    setColor(color);
 }
-cv::viz::WPlane::WPlane(const Vec4f& coefs, const Point3f& pt, double size, const Color &color)
+cv::viz::WPlane::WPlane(const Vec4f& coefs, const Point3f& pt, float size, const Color &color)
 {
    vtkSmartPointer<vtkPlaneSource> plane = vtkSmartPointer<vtkPlaneSource>::New();
    Point3f coefs3(coefs[0], coefs[1], coefs[2]);
@@ -183,7 +183,7 @@ template<> cv::viz::WSphere cv::viz::Widget::cast<cv::viz::WSphere>()
 ///////////////////////////////////////////////////////////////////////////////////////////////
 /// arrow widget implementation
-cv::viz::WArrow::WArrow(const Point3f& pt1, const Point3f& pt2, double thickness, const Color &color)
+cv::viz::WArrow::WArrow(const Point3f& pt1, const Point3f& pt2, float thickness, const Color &color)
 {
    vtkSmartPointer<vtkArrowSource> arrowSource = vtkSmartPointer<vtkArrowSource>::New();
    arrowSource->SetShaftRadius(thickness);
@@ -256,7 +256,7 @@ template<> cv::viz::WArrow cv::viz::Widget::cast<cv::viz::WArrow>()
 ///////////////////////////////////////////////////////////////////////////////////////////////
 /// circle widget implementation
-cv::viz::WCircle::WCircle(const Point3f& pt, double radius, double thickness, const Color& color)
+cv::viz::WCircle::WCircle(const Point3f& pt, float radius, float thickness, const Color& color)
 {
    vtkSmartPointer<vtkDiskSource> disk = vtkSmartPointer<vtkDiskSource>::New();
    // Maybe the resolution should be lower e.g. 50 or 25
@@ -292,7 +292,7 @@ template<> cv::viz::WCircle cv::viz::Widget::cast<cv::viz::WCircle>()
 ///////////////////////////////////////////////////////////////////////////////////////////////
 /// cylinder widget implementation
-cv::viz::WCylinder::WCylinder(const Point3f& pt_on_axis, const Point3f& axis_direction, double radius, int numsides, const Color &color)
+cv::viz::WCylinder::WCylinder(const Point3f& pt_on_axis, const Point3f& axis_direction, float radius, int numsides, const Color &color)
 {
    const Point3f pt2 = pt_on_axis + axis_direction;
    vtkSmartPointer<vtkLineSource> line = vtkSmartPointer<vtkLineSource>::New();
@@ -355,7 +355,7 @@ template<> cv::viz::WCube cv::viz::Widget::cast<cv::viz::WCube>()
 ///////////////////////////////////////////////////////////////////////////////////////////////
 /// coordinate system widget implementation
-cv::viz::WCoordinateSystem::WCoordinateSystem(double scale)
+cv::viz::WCoordinateSystem::WCoordinateSystem(float scale)
 {
    vtkSmartPointer<vtkAxes> axes = vtkSmartPointer<vtkAxes>::New();
    axes->SetOrigin(0, 0, 0);
@@ -593,7 +593,7 @@ template<> cv::viz::WGrid cv::viz::Widget::cast<cv::viz::WGrid>()
 ///////////////////////////////////////////////////////////////////////////////////////////////
 /// text3D widget implementation
-cv::viz::WText3D::WText3D(const String &text, const Point3f &position, double text_scale, bool face_camera, const Color &color)
+cv::viz::WText3D::WText3D(const String &text, const Point3f &position, float text_scale, bool face_camera, const Color &color)
 {
    vtkSmartPointer<vtkVectorText> textSource = vtkSmartPointer<vtkVectorText>::New();
    textSource->SetText(text.c_str());
@@ -1032,7 +1032,7 @@ struct cv::viz::WCameraPosition::ProjectImage
    }
 };
-cv::viz::WCameraPosition::WCameraPosition(double scale)
+cv::viz::WCameraPosition::WCameraPosition(float scale)
 {
    vtkSmartPointer<vtkAxes> axes = vtkSmartPointer<vtkAxes>::New();
    axes->SetOrigin(0, 0, 0);
@@ -1074,7 +1074,7 @@ cv::viz::WCameraPosition::WCameraPosition(double scale)
    WidgetAccessor::setProp(*this, actor);
 }
-cv::viz::WCameraPosition::WCameraPosition(const Matx33f &K, double scale, const Color &color)
+cv::viz::WCameraPosition::WCameraPosition(const Matx33f &K, float scale, const Color &color)
 {
    vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New();
    float f_x = K(0,0);
@@ -1116,7 +1116,7 @@ cv::viz::WCameraPosition::WCameraPosition(const Matx33f &K, double scale, const
 }
-cv::viz::WCameraPosition::WCameraPosition(const Vec2f &fov, double scale, const Color &color)
+cv::viz::WCameraPosition::WCameraPosition(const Vec2f &fov, float scale, const Color &color)
 {
    vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New();
@@ -1154,7 +1154,7 @@ cv::viz::WCameraPosition::WCameraPosition(const Vec2f &fov, double scale, const
    setColor(color);
 }
-cv::viz::WCameraPosition::WCameraPosition(const Matx33f &K, const Mat &image, double scale, const Color &color)
+cv::viz::WCameraPosition::WCameraPosition(const Matx33f &K, const Mat &image, float scale, const Color &color)
 {
    CV_Assert(!image.empty() && image.depth() == CV_8U);
    float f_y = K(1,1);
@@ -1168,7 +1168,7 @@ cv::viz::WCameraPosition::WCameraPosition(const Matx33f &K, const Mat &image, do
    WidgetAccessor::setProp(*this, actor);
 }
-cv::viz::WCameraPosition::WCameraPosition(const Vec2f &fov, const Mat &image, double scale, const Color &color)
+cv::viz::WCameraPosition::WCameraPosition(const Vec2f &fov, const Mat &image, float scale, const Color &color)
 {
    CV_Assert(!image.empty() && image.depth() == CV_8U);
    float fovy = fov[1] * 180.0f / CV_PI;
@@ -1220,7 +1220,7 @@ struct cv::viz::WTrajectory::ApplyPath
    }
 };
-cv::viz::WTrajectory::WTrajectory(const std::vector<Affine3f> &path, int display_mode, const Color &color, double scale)
+cv::viz::WTrajectory::WTrajectory(const std::vector<Affine3f> &path, int display_mode, const Color &color, float scale)
 {
    vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New();
@@ -1316,7 +1316,7 @@ cv::viz::WTrajectory::WTrajectory(const std::vector<Affine3f> &path, int display
    WidgetAccessor::setProp(*this, actor);
 }
-cv::viz::WTrajectory::WTrajectory(const std::vector<Affine3f> &path, const Matx33f &K, double scale, const Color &color)
+cv::viz::WTrajectory::WTrajectory(const std::vector<Affine3f> &path, const Matx33f &K, float scale, const Color &color)
 {
    vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New();
    float f_x = K(0,0);
@@ -1360,7 +1360,7 @@ cv::viz::WTrajectory::WTrajectory(const std::vector<Affine3f> &path, const Matx3
    setColor(color);
 }
-cv::viz::WTrajectory::WTrajectory(const std::vector<Affine3f> &path, const Vec2f &fov, double scale, const Color &color)
+cv::viz::WTrajectory::WTrajectory(const std::vector<Affine3f> &path, const Vec2f &fov, float scale, const Color &color)
 {
    vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New();
@@ -1409,7 +1409,7 @@ template<> cv::viz::WTrajectory cv::viz::Widget::cast<cv::viz::WTrajectory>()
 ///////////////////////////////////////////////////////////////////////////////////////////////
 /// spheres trajectory widget implementation
-cv::viz::WSpheresTrajectory::WSpheresTrajectory(const std::vector<Affine3f> &path, float line_length, double init_sphere_radius, double sphere_radius,
+cv::viz::WSpheresTrajectory::WSpheresTrajectory(const std::vector<Affine3f> &path, float line_length, float init_sphere_radius, float sphere_radius,
                                                          const Color &line_color, const Color &sphere_color)
 {
    vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New();

--- a/modules/viz/src/viz.cpp
+++ b/modules/viz/src/viz.cpp
@@ -107,70 +107,48 @@ namespace cv { namespace viz
 }}
 ///////////////////////////////////////////////////////////////////////////////////////////////
-/// Viz accessor implementation
+/// VizStorage implementation
-cv::viz::VizAccessor * cv::viz::VizAccessor::instance_ = 0;
+cv::viz::VizMap cv::viz::VizStorage::storage;
+void cv::viz::VizStorage::unregisterAll() { storage.clear(); }
-struct cv::viz::VizAccessor::VizAccessorImpl
+cv::viz::Viz3d& cv::viz::VizStorage::get(const String &window_name)
 {
-    cv::viz::VizMap viz_map;
+    String name = generateWindowName(window_name);
-};
+    VizMap::iterator vm_itr = storage.find(name);
+    CV_Assert(vm_itr != storage.end());
-cv::viz::VizAccessor::VizAccessor() { impl_ = new cv::viz::VizAccessor::VizAccessorImpl;}
+    return vm_itr->second;
-cv::viz::VizAccessor::~VizAccessor() { delete impl_; }
-cv::viz::VizAccessor & cv::viz::VizAccessor::getInstance()
-{
-    if (!instance_)
-        instance_ = new VizAccessor();
-    return *instance_;
-}
-void cv::viz::VizAccessor::release()
-{
-    if (instance_)
-    {
-        delete instance_;
-        instance_ = 0;
-    }
 }
-cv::viz::Viz3d cv::viz::VizAccessor::get(const String & window_name)
+void cv::viz::VizStorage::add(const Viz3d& window)
 {
-    // Add the prefix Viz
+    String window_name = window.getWindowName();
-    String name;
+    VizMap::iterator vm_itr = storage.find(window_name);
-    generateWindowName(window_name, name);
+    CV_Assert(vm_itr == storage.end());
+    storage.insert(std::make_pair(window_name, window));
-    VizMap::iterator vm_itr = impl_->viz_map.find(name);
-    return vm_itr != impl_->viz_map.end() ? vm_itr->second : Viz3d(window_name);
 }
-void cv::viz::VizAccessor::add(Viz3d window)
+bool cv::viz::VizStorage::windowExists(const String &window_name)
 {
-    String window_name = window.getWindowName();
+    String name = generateWindowName(window_name);
-    VizMap::iterator vm_itr = impl_->viz_map.find(window_name);
+    return storage.find(name) != storage.end();
-    if (vm_itr == impl_->viz_map.end())
-        impl_->viz_map.insert(VizPair(window_name, window));
 }
-void cv::viz::VizAccessor::remove(const String &window_name)
+void cv::viz::VizStorage::removeUnreferenced()
 {
-    // Add the prefix Viz
+    for(VizMap::iterator pos = storage.begin(); pos != storage.end();)
-    String name;
+        if(pos->second.impl_->ref_counter == 1)
-    generateWindowName(window_name, name);
+            storage.erase(pos++);
+        else
-    VizMap::iterator vm_itr = impl_->viz_map.find(name);
+            ++pos;
-    if (vm_itr != impl_->viz_map.end())
-        impl_->viz_map.erase(vm_itr);
 }
-void cv::viz::VizAccessor::generateWindowName(const String &window_name, String &output)
+cv::String cv::viz::VizStorage::generateWindowName(const String &window_name)
 {
-    output = "Viz";
+    String output = "Viz";
    // Already is Viz
    if (window_name == output)
-        return;
+        return output;
    String prefixed = output + " - ";
    if (window_name.substr(0, prefixed.length()) == prefixed)
@@ -179,9 +157,9 @@ void cv::viz::VizAccessor::generateWindowName(const String &window_name, String
        output = prefixed + window_name; // Doesn't have prefix
    else
        output = (window_name == "" ? output : prefixed + window_name);
-}
-cv::viz::Viz3d cv::viz::get(const String &window_name)
+    return output;
-{
-    return cv::viz::VizAccessor::getInstance().get(window_name);
 }
+cv::viz::Viz3d cv::viz::get(const String &window_name) { return Viz3d (window_name); }
+void cv::viz::unregisterAllWindows() { VizStorage::unregisterAll(); }
--- a/modules/viz/src/viz3d.cpp
+++ b/modules/viz/src/viz3d.cpp
@@ -52,7 +52,8 @@ cv::viz::Viz3d::Viz3d(const String& window_name) : impl_(0) { create(window_name
 cv::viz::Viz3d::Viz3d(const Viz3d& other) : impl_(other.impl_)
 {
-    if (impl_) CV_XADD(&impl_->ref_counter, 1);
+    if (impl_)
+        CV_XADD(&impl_->ref_counter, 1);
 }
 cv::viz::Viz3d& cv::viz::Viz3d::operator=(const Viz3d& other)
@@ -61,7 +62,8 @@ cv::viz::Viz3d& cv::viz::Viz3d::operator=(const Viz3d& other)
    {
        release();
        impl_ = other.impl_;
-        if (impl_) CV_XADD(&impl_->ref_counter, 1);
+        if (impl_)
+            CV_XADD(&impl_->ref_counter, 1);
    }
    return *this;
 }
@@ -70,24 +72,33 @@ cv::viz::Viz3d::~Viz3d() { release(); }
 void cv::viz::Viz3d::create(const String &window_name)
 {
-    if (impl_) release();
+    if (impl_)
+        release();
+    if (VizStorage::windowExists(window_name))
+        *this = VizStorage::get(window_name);
+    else
+    {
        impl_ = new VizImpl(window_name);
        impl_->ref_counter = 1;
        // Register the window
-    cv::viz::VizAccessor::getInstance().add(*this);
+        VizStorage::add(*this);
+    }
 }
 void cv::viz::Viz3d::release()
 {
-    // If the current referene count is equal to 2, we can delete it
+    if (impl_ && CV_XADD(&impl_->ref_counter, -1) == 1)
-    // - 2 : because minimum there will be two instances, one of which is in the map
-    if (impl_ && CV_XADD(&impl_->ref_counter, -1) == 2)
    {
-        // Erase the window
-        cv::viz::VizAccessor::getInstance().remove(getWindowName());
        delete impl_;
        impl_ = 0;
    }
+    if (impl_ && impl_->ref_counter == 1)
+        VizStorage::removeUnreferenced();
+    impl_ = 0;
 }
 void cv::viz::Viz3d::spin() { impl_->spin(); }

--- a/modules/viz/src/viz3d_impl.cpp
+++ b/modules/viz/src/viz3d_impl.cpp
@@ -48,6 +48,8 @@
 #include "precomp.hpp"
+vtkRenderWindowInteractor* vtkRenderWindowInteractorFixNew();
 #if 1 || !defined __APPLE__
 vtkRenderWindowInteractor* vtkRenderWindowInteractorFixNew()
 {
@@ -57,7 +59,7 @@ vtkRenderWindowInteractor* vtkRenderWindowInteractorFixNew()
 /////////////////////////////////////////////////////////////////////////////////////////////
 cv::viz::Viz3d::VizImpl::VizImpl(const String &name)
-    :  style_(vtkSmartPointer<cv::viz::InteractorStyle>::New()) , widget_actor_map_(new WidgetActorMap), s_lastDone_(0.0)
+    :  s_lastDone_(0.0), style_(vtkSmartPointer<cv::viz::InteractorStyle>::New()), widget_actor_map_(new WidgetActorMap)
 {
    renderer_ = vtkSmartPointer<vtkRenderer>::New();
@@ -77,7 +79,7 @@ cv::viz::Viz3d::VizImpl::VizImpl(const String &name)
    style_->UseTimersOn();
    /////////////////////////////////////////////////
-    interactor_ = vtkSmartPointer <vtkRenderWindowInteractor>::Take(vtkRenderWindowInteractorFixNew());
+    interactor_ = vtkSmartPointer<vtkRenderWindowInteractor>::Take(vtkRenderWindowInteractorFixNew());
    window_->AlphaBitPlanesOff();
    window_->PointSmoothingOff();
@@ -95,9 +97,9 @@ cv::viz::Viz3d::VizImpl::VizImpl(const String &name)
    timer_id_ = interactor_->CreateRepeatingTimer(5000L);
    // Set a simple PointPicker
-    vtkSmartPointer<vtkPointPicker> pp = vtkSmartPointer<vtkPointPicker>::New();
+    //vtkSmartPointer<vtkPointPicker> pp = vtkSmartPointer<vtkPointPicker>::New();
-    pp->SetTolerance(pp->GetTolerance() * 2);
+    //pp->SetTolerance(pp->GetTolerance() * 2);
-    interactor_->SetPicker(pp);
+    //interactor_->SetPicker(pp);
    exit_main_loop_timer_callback_ = vtkSmartPointer<ExitMainLoopTimerCallback>::New();
    exit_main_loop_timer_callback_->viz_ = this;
@@ -112,8 +114,7 @@ cv::viz::Viz3d::VizImpl::VizImpl(const String &name)
    //////////////////////////////
-    String window_name;
+    String window_name = VizStorage::generateWindowName(name);
-    VizAccessor::generateWindowName(name, window_name);
    window_->SetWindowName(window_name.c_str());
 }
@@ -314,45 +315,6 @@ bool cv::viz::Viz3d::VizImpl::removeActorFromRenderer(const vtkSmartPointer<vtkP
    return false;
 }
-/////////////////////////////////////////////////////////////////////////////////////////////
-void cv::viz::Viz3d::VizImpl::createActorFromVTKDataSet(const vtkSmartPointer<vtkDataSet> &data, vtkSmartPointer<vtkLODActor> &actor, bool use_scalars)
-{
-    if (!actor)
-        actor = vtkSmartPointer<vtkLODActor>::New();
-    vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New();
-#if VTK_MAJOR_VERSION <= 5
-    mapper->SetInput(data);
-#else
-    mapper->SetInputData(data);
-#endif
-    if (use_scalars)
-    {
-        vtkSmartPointer<vtkDataArray> scalars = data->GetPointData()->GetScalars();
-        if (scalars)
-        {
-            cv::Vec3d minmax(scalars->GetRange());
-            mapper->SetScalarRange(minmax.val);
-            mapper->SetScalarModeToUsePointData();
-            // interpolation OFF, if data is a vtkPolyData that contains only vertices, ON for anything else.
-            vtkPolyData* polyData = vtkPolyData::SafeDownCast(data);
-            bool interpolation = (polyData && polyData->GetNumberOfCells() != polyData->GetNumberOfVerts());
-            mapper->SetInterpolateScalarsBeforeMapping(interpolation);
-            mapper->ScalarVisibilityOn();
-        }
-    }
-    mapper->ImmediateModeRenderingOff();
-    actor->SetNumberOfCloudPoints(int(std::max<vtkIdType>(1, data->GetNumberOfPoints() / 10)));
-    actor->GetProperty()->SetInterpolationToFlat();
-    actor->GetProperty()->BackfaceCullingOn();
-    actor->SetMapper(mapper);
-}
 //////////////////////////////////////////////////////////////////////////////////////////////
 void cv::viz::Viz3d::VizImpl::setBackgroundColor(const Color& color)
 {
@@ -542,48 +504,6 @@ void cv::viz::Viz3d::VizImpl::setRepresentation(int representation)
    }
 }
-//////////////////////////////////////////////////////////////////////////////////////////////
-void cv::viz::Viz3d::VizImpl::updateCells(vtkSmartPointer<vtkIdTypeArray> &cells, vtkSmartPointer<vtkIdTypeArray> &initcells, vtkIdType nr_points)
-{
-    // If no init cells and cells has not been initialized...
-    if (!cells)
-        cells = vtkSmartPointer<vtkIdTypeArray>::New();
-    // If we have less values then we need to recreate the array
-    if (cells->GetNumberOfTuples() < nr_points)
-    {
-        cells = vtkSmartPointer<vtkIdTypeArray>::New();
-        // If init cells is given, and there's enough data in it, use it
-        if (initcells && initcells->GetNumberOfTuples() >= nr_points)
-        {
-            cells->DeepCopy(initcells);
-            cells->SetNumberOfComponents(2);
-            cells->SetNumberOfTuples(nr_points);
-        }
-        else
-        {
-            // If the number of tuples is still too small, we need to recreate the array
-            cells->SetNumberOfComponents(2);
-            cells->SetNumberOfTuples(nr_points);
-            vtkIdType *cell = cells->GetPointer(0);
-            // Fill it with 1s
-            std::fill_n(cell, nr_points * 2, 1);
-            cell++;
-            for (vtkIdType i = 0; i < nr_points; ++i, cell += 2)
-                *cell = i;
-            // Save the results in initcells
-            initcells = vtkSmartPointer<vtkIdTypeArray>::New();
-            initcells->DeepCopy(cells);
-        }
-    }
-    else
-    {
-        // The assumption here is that the current set of cells has more data than needed
-        cells->SetNumberOfComponents(2);
-        cells->SetNumberOfTuples(nr_points);
-    }
-}
 //////////////////////////////////////////////////////////////////////////////////////////////
 void cv::viz::Viz3d::VizImpl::setFullScreen(bool mode)

--- a/modules/viz/src/viz3d_impl.hpp
+++ b/modules/viz/src/viz3d_impl.hpp
@@ -52,7 +52,6 @@
 struct cv::viz::Viz3d::VizImpl
 {
 public:
-    typedef cv::Ptr<VizImpl> Ptr;
    typedef Viz3d::KeyboardCallback KeyboardCallback;
    typedef Viz3d::MouseCallback MouseCallback;
@@ -181,9 +180,6 @@ private:
    bool camera_set_;
    bool removeActorFromRenderer(const vtkSmartPointer<vtkProp> &actor);
-    void createActorFromVTKDataSet(const vtkSmartPointer<vtkDataSet> &data, vtkSmartPointer<vtkLODActor> &actor, bool use_scalars = true);
-    void updateCells(vtkSmartPointer<vtkIdTypeArray> &cells, vtkSmartPointer<vtkIdTypeArray> &initcells, vtkIdType nr_points);
 };

--- a/modules/viz/test/test_tutorial2.cpp
+++ b/modules/viz/test/test_tutorial2.cpp
+#include "test_precomp.hpp"
+using namespace cv;
+using namespace std;
+void tutorial2()
+{
+    /// Create a window
+    viz::Viz3d myWindow("Coordinate Frame");
+    /// Add coordinate axes
+    myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
+    /// Add line to represent (1,1,1) axis
+    viz::WLine axis(Point3f(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f));
+    axis.setRenderingProperty(viz::LINE_WIDTH, 4.0);
+    myWindow.showWidget("Line Widget", axis);
+    /// Construct a cube widget
+    viz::WCube cube_widget(Point3f(0.5,0.5,0.0), Point3f(0.0,0.0,-0.5), true, viz::Color::blue());
+    cube_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0);
+    /// Display widget (update if already displayed)
+    myWindow.showWidget("Cube Widget", cube_widget);
+    /// Rodrigues vector
+    Mat rot_vec = Mat::zeros(1,3,CV_32F);
+    float translation_phase = 0.0, translation = 0.0;
+    while(!myWindow.wasStopped())
+    {
+        /* Rotation using rodrigues */
+        /// Rotate around (1,1,1)
+        rot_vec.at<float>(0,0) += CV_PI * 0.01f;
+        rot_vec.at<float>(0,1) += CV_PI * 0.01f;
+        rot_vec.at<float>(0,2) += CV_PI * 0.01f;
+        /// Shift on (1,1,1)
+        translation_phase += CV_PI * 0.01f;
+        translation = sin(translation_phase);
+        /// Construct pose
+        Affine3f pose(rot_vec, Vec3f(translation, translation, translation));
+        myWindow.setWidgetPose("Cube Widget", pose);
+        myWindow.spinOnce(1, true);
+    }
+}
+TEST(Viz_viz3d, DISABLED_tutorial2_pose_of_widget)
+{
+    tutorial2();
+}