replace tabs by spaces

modules/viz/doc/viz.rst

@@ -7,5 +7,3 @@ viz. 3D Visualizer
 	
 	viz3d.rst
 	widget.rst
-	types.rst
-	widget_accessor.rst

modules/viz/doc/viz3d.rst

@@ -7,67 +7,67 @@ Viz3d
 -----
 .. ocv:class:: Viz3d
 
-The Viz3d class represents a 3D visualizer window. This class is implicitly shared.	::
-
-	class CV_EXPORTS Viz3d
-	{
-	public:
-		typedef cv::Ptr<Viz3d> Ptr;
-		typedef void (*KeyboardCallback)(const KeyboardEvent&, void*);
-		typedef void (*MouseCallback)(const MouseEvent&, void*);
-
-		Viz3d(const String& window_name = String());
-		Viz3d(const Viz3d&);
-		Viz3d& operator=(const Viz3d&);
-		~Viz3d();
-
-		void showWidget(const String &id, const Widget &widget, const Affine3f &pose = Affine3f::Identity());
-		void removeWidget(const String &id);
-		Widget getWidget(const String &id) const;
-		void removeAllWidgets();
-
-		void setWidgetPose(const String &id, const Affine3f &pose);
-		void updateWidgetPose(const String &id, const Affine3f &pose);
-		Affine3f getWidgetPose(const String &id) const;
-		
-		void setCamera(const Camera &camera);
-		Camera getCamera() const;
-		Affine3f getViewerPose();
-		void setViewerPose(const Affine3f &pose);
-		
-		void resetCameraViewpoint (const String &id);
-		void resetCamera();
-		
-		void convertToWindowCoordinates(const Point3d &pt, Point3d &window_coord);
-		void converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction);
-		
-		Size getWindowSize() const;
-		void setWindowSize(const Size &window_size);
-		String getWindowName() const;
-		void saveScreenshot (const String &file);
-		void setWindowPosition (int x, int y);
-		void setFullScreen (bool mode);
-		void setBackgroundColor(const Color& color = Color::black());
-
-		void spin();
-		void spinOnce(int time = 1, bool force_redraw = false);
-		bool wasStopped() const;
-
-		void registerKeyboardCallback(KeyboardCallback callback, void* cookie = 0);
-		void registerMouseCallback(MouseCallback callback, void* cookie = 0);
-		
-		void setRenderingProperty(const String &id, int property, double value);
-		double getRenderingProperty(const String &id, int property);
-		
-		void setDesiredUpdateRate(double rate);
-		double getDesiredUpdateRate();
-		
-		void setRepresentationToSurface();
-		void setRepresentationToWireframe();
-		void setRepresentationToPoints();
-	private:
-		/* hidden */
-	};
+The Viz3d class represents a 3D visualizer window. This class is implicitly shared.    ::
+
+    class CV_EXPORTS Viz3d
+    {
+    public:
+        typedef cv::Ptr<Viz3d> Ptr;
+        typedef void (*KeyboardCallback)(const KeyboardEvent&, void*);
+        typedef void (*MouseCallback)(const MouseEvent&, void*);
+
+        Viz3d(const String& window_name = String());
+        Viz3d(const Viz3d&);
+        Viz3d& operator=(const Viz3d&);
+        ~Viz3d();
+
+        void showWidget(const String &id, const Widget &widget, const Affine3f &pose = Affine3f::Identity());
+        void removeWidget(const String &id);
+        Widget getWidget(const String &id) const;
+        void removeAllWidgets();
+
+        void setWidgetPose(const String &id, const Affine3f &pose);
+        void updateWidgetPose(const String &id, const Affine3f &pose);
+        Affine3f getWidgetPose(const String &id) const;
+        
+        void setCamera(const Camera &camera);
+        Camera getCamera() const;
+        Affine3f getViewerPose();
+        void setViewerPose(const Affine3f &pose);
+        
+        void resetCameraViewpoint (const String &id);
+        void resetCamera();
+        
+        void convertToWindowCoordinates(const Point3d &pt, Point3d &window_coord);
+        void converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction);
+        
+        Size getWindowSize() const;
+        void setWindowSize(const Size &window_size);
+        String getWindowName() const;
+        void saveScreenshot (const String &file);
+        void setWindowPosition (int x, int y);
+        void setFullScreen (bool mode);
+        void setBackgroundColor(const Color& color = Color::black());
+
+        void spin();
+        void spinOnce(int time = 1, bool force_redraw = false);
+        bool wasStopped() const;
+
+        void registerKeyboardCallback(KeyboardCallback callback, void* cookie = 0);
+        void registerMouseCallback(MouseCallback callback, void* cookie = 0);
+        
+        void setRenderingProperty(const String &id, int property, double value);
+        double getRenderingProperty(const String &id, int property);
+        
+        void setDesiredUpdateRate(double rate);
+        double getDesiredUpdateRate();
+        
+        void setRepresentationToSurface();
+        void setRepresentationToWireframe();
+        void setRepresentationToPoints();
+    private:
+        /* hidden */
+    };
 
 Viz3d::Viz3d
 ------------
@@ -75,7 +75,7 @@ The constructors.
 
 .. ocv:function:: Viz3d::Viz3d(const String& window_name = String())
 
-	:param window_name: Name of the window.
+    :param window_name: Name of the window.
 
 Viz3d::showWidget
 -----------------
@@ -83,18 +83,18 @@ Shows a widget in the window.
 
 .. ocv:function:: void Viz3d::showWidget(const String &id, const Widget &widget, const Affine3f &pose = Affine3f::Identity())
 
-	:param id: A unique id for the widget.
-	:param widget: The widget to be rendered in the window.
-	:param pose: Pose of the widget.
-	
+    :param id: A unique id for the widget.
+    :param widget: The widget to be rendered in the window.
+    :param pose: Pose of the widget.
+    
 Viz3d::removeWidget
 -------------------
 Removes a widget from the window.
 
 .. ocv:function:: void removeWidget(const String &id)
 
-	:param id: The id of the widget that will be removed.
-	
+    :param id: The id of the widget that will be removed.
+    
 Viz3d::getWidget
 ----------------
 Retrieves a widget from the window. A widget is implicitly shared;
@@ -103,8 +103,8 @@ immediately visible in the window.
 
 .. ocv:function:: Widget getWidget(const String &id) const
 
-	:param id: The id of the widget that will be returned.
-	
+    :param id: The id of the widget that will be returned.
+    
 Viz3d::removeAllWidgets
 -----------------------
 Removes all widgets from the window.
@@ -117,8 +117,8 @@ Sets pose of a widget in the window.
 
 .. ocv:function:: void setWidgetPose(const String &id, const Affine3f &pose)
 
-	:param id: The id of the widget whose pose will be set.
-	:param pose: The new pose of the widget.
+    :param id: The id of the widget whose pose will be set.
+    :param pose: The new pose of the widget.
 
 Viz3d::updateWidgetPose
 -----------------------
@@ -126,8 +126,8 @@ Updates pose of a widget in the window by pre-multiplying its current pose.
 
 .. ocv:function:: void updateWidgetPose(const String &id, const Affine3f &pose)
 
-	:param id: The id of the widget whose pose will be updated.
-	:param pose: The pose that the current pose of the widget will be pre-multiplied by.
+    :param id: The id of the widget whose pose will be updated.
+    :param pose: The pose that the current pose of the widget will be pre-multiplied by.
 
 Viz3d::getWidgetPose
 --------------------
@@ -135,7 +135,7 @@ Returns the current pose of a widget in the window.
 
 .. ocv:function:: Affine3f getWidgetPose(const String &id) const
 
-	:param id: The id of the widget whose pose will be returned.
+    :param id: The id of the widget whose pose will be returned.
 
 Viz3d::setCamera
 ----------------
@@ -143,7 +143,7 @@ Sets the intrinsic parameters of the viewer using Camera.
 
 .. ocv:function:: void setCamera(const Camera &camera)
 
-	:param camera: Camera object wrapping intrinsinc parameters.
+    :param camera: Camera object wrapping intrinsinc parameters.
 
 Viz3d::getCamera
 ----------------
@@ -163,7 +163,7 @@ Sets pose of the viewer.
 
 .. ocv:function:: void setViewerPose(const Affine3f &pose)
 
-	:param pose: The new pose of the viewer.
+    :param pose: The new pose of the viewer.
 
 Viz3d::resetCameraViewpoint
 ---------------------------
@@ -171,8 +171,8 @@ Resets camera viewpoint to a 3D widget in the scene.
 
 .. ocv:function:: void resetCameraViewpoint (const String &id)
 
-	:param pose: Id of a 3D widget.
-	
+    :param pose: Id of a 3D widget.
+    
 Viz3d::resetCamera
 ------------------
 Resets camera.
@@ -185,19 +185,19 @@ Transforms a point in world coordinate system to window coordinate system.
 
 .. ocv:function:: void convertToWindowCoordinates(const Point3d &pt, Point3d &window_coord)
 
-	:param pt: Point in world coordinate system.
-	:param window_coord: Output point in window coordinate system.
-	
+    :param pt: Point in world coordinate system.
+    :param window_coord: Output point in window coordinate system.
+    
 Viz3d::converTo3DRay
 --------------------
 Transforms a point in window coordinate system to a 3D ray in world coordinate system.
 
 .. ocv:function:: void converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction)
 
-	:param window_coord: Point in window coordinate system.
-	:param origin: Output origin of the ray.
-	:param direction: Output direction of the ray.
-	
+    :param window_coord: Point in window coordinate system.
+    :param origin: Output origin of the ray.
+    :param direction: Output direction of the ray.
+    
 Viz3d::getWindowSize
 --------------------
 Returns the current size of the window.
@@ -210,8 +210,8 @@ Sets the size of the window.
 
 .. ocv:function:: void setWindowSize(const Size &window_size)
 
-	:param window_size: New size of the window.
-	
+    :param window_size: New size of the window.
+    
 Viz3d::getWindowName
 --------------------
 Returns the name of the window which has been set in the constructor.
@@ -224,25 +224,25 @@ Saves screenshot of the current scene.
 
 .. ocv:function:: void saveScreenshot(const String &file)
 
-	:param file: Name of the file.
-	
+    :param file: Name of the file.
+    
 Viz3d::setWindowPosition
 ------------------------
 Sets the position of the window in the screen.
 
 .. ocv:function:: void setWindowPosition(int x, int y)
 
-	:param x: x coordinate of the window
-	:param y: y coordinate of the window
-	
+    :param x: x coordinate of the window
+    :param y: y coordinate of the window
+    
 Viz3d::setFullScreen
 --------------------
 Sets or unsets full-screen rendering mode.
 
 .. ocv:function:: void setFullScreen(bool mode)
 
-	:param mode: If true, window will use full-screen mode.
-	
+    :param mode: If true, window will use full-screen mode.
+    
 Viz3d::setBackgroundColor
 -------------------------
 Sets background color.
@@ -261,8 +261,8 @@ Starts the event loop for a given time.
 
 .. ocv:function:: void spinOnce(int time = 1, bool force_redraw = false)
 
-	:param time: Amount of time in milliseconds for the event loop to keep running.
-	:param force_draw: If true, window renders.
+    :param time: Amount of time in milliseconds for the event loop to keep running.
+    :param force_draw: If true, window renders.
 
 Viz3d::wasStopped
 -----------------
@@ -276,17 +276,17 @@ Sets keyboard handler.
 
 .. ocv:function:: void registerKeyboardCallback(KeyboardCallback callback, void* cookie = 0)
 
-	:param callback: Keyboard callback.
-	:param cookie: The optional parameter passed to the callback.
-	
+    :param callback: Keyboard callback.
+    :param cookie: The optional parameter passed to the callback.
+    
 Viz3d::registerMouseCallback
 ----------------------------
 Sets mouse handler.
 
 .. ocv:function:: void registerMouseCallback(MouseCallback callback, void* cookie = 0)
 
-	:param callback: Mouse callback.
-	:param cookie: The optional parameter passed to the callback.
+    :param callback: Mouse callback.
+    :param cookie: The optional parameter passed to the callback.
 
 Viz3d::setRenderingProperty
 ---------------------------
@@ -294,18 +294,18 @@ Sets rendering property of a widget.
 
 .. ocv:function:: void setRenderingProperty(const String &id, int property, double value)
 
-	:param id: Id of the widget.
-	:param property: Property that will be modified.
-	:param value: The new value of the property.
-	
+    :param id: Id of the widget.
+    :param property: Property that will be modified.
+    :param value: The new value of the property.
+    
 Viz3d::getRenderingProperty
 ---------------------------
 Returns rendering property of a widget.
 
 .. ocv:function:: double getRenderingProperty(const String &id, int property)
 
-	:param id: Id of the widget.
-	:param property: Property.
+    :param id: Id of the widget.
+    :param property: Property.
 
 Viz3d::setDesiredUpdateRate
 ---------------------------
@@ -313,8 +313,8 @@ Sets desired update rate of the window.
 
 .. ocv:function:: void setDesiredUpdateRate(double rate)
 
-	:param rate: Desired update rate. The default is 30.
-	
+    :param rate: Desired update rate. The default is 30.
+    
 Viz3d::getDesiredUpdateRate
 ---------------------------
 Returns desired update rate of the window.
@@ -345,27 +345,27 @@ Color
 
 This class a represents BGR color. ::
 
-	class CV_EXPORTS Color : public Scalar
-	{
-	public:
-		Color();
-		Color(double gray);
-		Color(double blue, double green, double red);
+    class CV_EXPORTS Color : public Scalar
+    {
+    public:
+        Color();
+        Color(double gray);
+        Color(double blue, double green, double red);
 
-		Color(const Scalar& color);
+        Color(const Scalar& color);
 
-		static Color black();
-		static Color blue();
-		static Color green();
-		static Color cyan();
+        static Color black();
+        static Color blue();
+        static Color green();
+        static Color cyan();
 
-		static Color red();
-		static Color magenta();
-		static Color yellow();
-		static Color white();
+        static Color red();
+        static Color magenta();
+        static Color yellow();
+        static Color white();
 
-		static Color gray();
-	};
+        static Color gray();
+    };
 
 Mesh3d
 ------
@@ -373,27 +373,27 @@ Mesh3d
 
 This class wraps mesh attributes, and it can load a mesh from a ``ply`` file. ::
 
-	class CV_EXPORTS Mesh3d
-	{
-	public:
+    class CV_EXPORTS Mesh3d
+    {
+    public:
 
-		Mat cloud, colors;
-		Mat polygons;
+        Mat cloud, colors;
+        Mat polygons;
 
-		//! Loads mesh from a given ply file
-		static Mesh3d loadMesh(const String& file);
-		
-	private:
-		/* hidden */
-	};
-	
+        //! Loads mesh from a given ply file
+        static Mesh3d loadMesh(const String& file);
+        
+    private:
+        /* hidden */
+    };
+    
 Mesh3d::loadMesh
 ----------------
 Loads a mesh from a ``ply`` file.
 
 .. ocv:function:: static Mesh3d loadMesh(const String& file)
 
-	:param file: File name.
+    :param file: File name.
  
  
 KeyboardEvent
@@ -402,30 +402,30 @@ KeyboardEvent
 
 This class represents a keyboard event. ::
 
-	class CV_EXPORTS KeyboardEvent
-	{
-	public:
-		static const unsigned int Alt   = 1;
-		static const unsigned int Ctrl  = 2;
-		static const unsigned int Shift = 4;
+    class CV_EXPORTS KeyboardEvent
+    {
+    public:
+        static const unsigned int Alt   = 1;
+        static const unsigned int Ctrl  = 2;
+        static const unsigned int Shift = 4;
 
-		//! Create a keyboard event
-		//! - Note that action is true if key is pressed, false if released
-		KeyboardEvent (bool action, const std::string& key_sym, unsigned char key, bool alt, bool ctrl, bool shift);
+        //! Create a keyboard event
+        //! - Note that action is true if key is pressed, false if released
+        KeyboardEvent (bool action, const std::string& key_sym, unsigned char key, bool alt, bool ctrl, bool shift);
 
-		bool isAltPressed () const;
-		bool isCtrlPressed () const;
-		bool isShiftPressed () const;
+        bool isAltPressed () const;
+        bool isCtrlPressed () const;
+        bool isShiftPressed () const;
 
-		unsigned char getKeyCode () const;
+        unsigned char getKeyCode () const;
 
-		const String& getKeySym () const;
-		bool keyDown () const;
-		bool keyUp () const;
+        const String& getKeySym () const;
+        bool keyDown () const;
+        bool keyUp () const;
 
-	protected:
-		/* hidden */
-	};
+    protected:
+        /* hidden */
+    };
 
 KeyboardEvent::KeyboardEvent
 ----------------------------
@@ -433,46 +433,46 @@ Constructs a KeyboardEvent.
 
 .. ocv:function:: KeyboardEvent (bool action, const std::string& key_sym, unsigned char key, bool alt, bool ctrl, bool shift)
 
-	:param action: If true, key is pressed. If false, key is released.
-	:param key_sym: Name of the key.
-	:param key: Code of the key.
-	:param alt: If true, ``alt`` is pressed.
-	:param ctrl: If true, ``ctrl`` is pressed.
-	:param shift: If true, ``shift`` is pressed.
-	
+    :param action: If true, key is pressed. If false, key is released.
+    :param key_sym: Name of the key.
+    :param key: Code of the key.
+    :param alt: If true, ``alt`` is pressed.
+    :param ctrl: If true, ``ctrl`` is pressed.
+    :param shift: If true, ``shift`` is pressed.
+    
 MouseEvent
 ----------
 .. ocv:class:: MouseEvent
 
 This class represents a mouse event. ::
 
-	class CV_EXPORTS MouseEvent
-	{
-	public:
-		enum Type { MouseMove = 1, MouseButtonPress, MouseButtonRelease, MouseScrollDown, MouseScrollUp, MouseDblClick } ;
-		enum MouseButton { NoButton = 0, LeftButton, MiddleButton, RightButton, VScroll } ;
+    class CV_EXPORTS MouseEvent
+    {
+    public:
+        enum Type { MouseMove = 1, MouseButtonPress, MouseButtonRelease, MouseScrollDown, MouseScrollUp, MouseDblClick } ;
+        enum MouseButton { NoButton = 0, LeftButton, MiddleButton, RightButton, VScroll } ;
 
-		MouseEvent (const Type& type, const MouseButton& button, const Point& p, bool alt, bool ctrl, bool shift);
+        MouseEvent (const Type& type, const MouseButton& button, const Point& p, bool alt, bool ctrl, bool shift);
 
-		Type type;
-		MouseButton button;
-		Point pointer;
-		unsigned int key_state;
-	};
-	
+        Type type;
+        MouseButton button;
+        Point pointer;
+        unsigned int key_state;
+    };
+    
 MouseEvent::MouseEvent
 ----------------------
 Constructs a MouseEvent.
 
 .. ocv:function:: MouseEvent (const Type& type, const MouseButton& button, const Point& p, bool alt, bool ctrl, bool shift)
 
-	:param type: Type of the event. This can be **MouseMove**, **MouseButtonPress**, **MouseButtonRelease**, **MouseScrollDown**, **MouseScrollUp**, **MouseDblClick**.
-	:param button: Mouse button. This can be **NoButton**, **LeftButton**, **MiddleButton**, **RightButton**, **VScroll**.
-	:param p: Position of the event.
-	:param alt: If true, ``alt`` is pressed.
-	:param ctrl: If true, ``ctrl`` is pressed.
-	:param shift: If true, ``shift`` is pressed.
-	
+    :param type: Type of the event. This can be **MouseMove**, **MouseButtonPress**, **MouseButtonRelease**, **MouseScrollDown**, **MouseScrollUp**, **MouseDblClick**.
+    :param button: Mouse button. This can be **NoButton**, **LeftButton**, **MiddleButton**, **RightButton**, **VScroll**.
+    :param p: Position of the event.
+    :param alt: If true, ``alt`` is pressed.
+    :param ctrl: If true, ``ctrl`` is pressed.
+    :param shift: If true, ``shift`` is pressed.
+    
 Camera
 ------
 .. ocv:class:: Camera
@@ -481,33 +481,33 @@ This class wraps intrinsic parameters of a camera. It provides several construct
 that can extract the intrinsic parameters from ``field of view``, ``intrinsic matrix`` and
 ``projection matrix``. ::
 
-	class CV_EXPORTS Camera
-	{
-	public:
-		Camera(float f_x, float f_y, float c_x, float c_y, const Size &window_size);
-		Camera(const Vec2f &fov, const Size &window_size);
-		Camera(const cv::Matx33f &K, const Size &window_size);
-		Camera(const cv::Matx44f &proj, const Size &window_size);
-		
-		inline const Vec2d & getClip() const { return clip_; }
-		inline void setClip(const Vec2d &clip) { clip_ = clip; }
-		
-		inline const Size & getWindowSize() const { return window_size_; }
-		void setWindowSize(const Size &window_size);
-		
-		inline const Vec2f & getFov() const { return fov_; }
-		inline void setFov(const Vec2f & fov) { fov_ = fov; }
-		
-		inline const Vec2f & getPrincipalPoint() const { return principal_point_; }
-		inline const Vec2f & getFocalLength() const { return focal_; }
-		
-		void computeProjectionMatrix(Matx44f &proj) const;
-		
-		static Camera KinectCamera(const Size &window_size);
-		
-	private:
-		/* hidden */
-	};
+    class CV_EXPORTS Camera
+    {
+    public:
+        Camera(float f_x, float f_y, float c_x, float c_y, const Size &window_size);
+        Camera(const Vec2f &fov, const Size &window_size);
+        Camera(const cv::Matx33f &K, const Size &window_size);
+        Camera(const cv::Matx44f &proj, const Size &window_size);
+        
+        inline const Vec2d & getClip() const { return clip_; }
+        inline void setClip(const Vec2d &clip) { clip_ = clip; }
+        
+        inline const Size & getWindowSize() const { return window_size_; }
+        void setWindowSize(const Size &window_size);
+        
+        inline const Vec2f & getFov() const { return fov_; }
+        inline void setFov(const Vec2f & fov) { fov_ = fov; }
+        
+        inline const Vec2f & getPrincipalPoint() const { return principal_point_; }
+        inline const Vec2f & getFocalLength() const { return focal_; }
+        
+        void computeProjectionMatrix(Matx44f &proj) const;
+        
+        static Camera KinectCamera(const Size &window_size);
+        
+    private:
+        /* hidden */
+    };
 
 Camera::Camera
 --------------
@@ -515,28 +515,28 @@ Constructs a Camera.
 
 .. ocv:function:: Camera(float f_x, float f_y, float c_x, float c_y, const Size &window_size)
 
-	:param f_x: Horizontal focal length.
-	:param f_y: Vertical focal length.
-	:param c_x: x coordinate of the principal point.
-	:param c_y: y coordinate of the principal point.
-	:param window_size: Size of the window. This together with focal length and principal point determines the field of view.
+    :param f_x: Horizontal focal length.
+    :param f_y: Vertical focal length.
+    :param c_x: x coordinate of the principal point.
+    :param c_y: y coordinate of the principal point.
+    :param window_size: Size of the window. This together with focal length and principal point determines the field of view.
 
 .. ocv:function:: Camera(const Vec2f &fov, const Size &window_size)
 
-	:param fov: Field of view (horizontal, vertical)
-	:param window_size: Size of the window.
+    :param fov: Field of view (horizontal, vertical)
+    :param window_size: Size of the window.
 
-	Principal point is at the center of the window by default.
-	
+    Principal point is at the center of the window by default.
+    
 .. ocv:function:: Camera(const cv::Matx33f &K, const Size &window_size)
 
-	:param K: Intrinsic matrix of the camera.
-	:param window_size: Size of the window. This together with intrinsic matrix determines the field of view.
+    :param K: Intrinsic matrix of the camera.
+    :param window_size: Size of the window. This together with intrinsic matrix determines the field of view.
 
 .. ocv:function:: Camera(const cv::Matx44f &proj, const Size &window_size)
 
-	:param proj: Projection matrix of the camera.
-	:param window_size: Size of the window. This together with projection matrix determines the field of view.
+    :param proj: Projection matrix of the camera.
+    :param window_size: Size of the window. This together with projection matrix determines the field of view.
 
 Camera::computeProjectionMatrix
 -------------------------------
@@ -544,13 +544,13 @@ Computes projection matrix using intrinsic parameters of the camera.
 
 .. ocv:function:: void computeProjectionMatrix(Matx44f &proj) const
 
-	:param proj: Output projection matrix.
-		
+    :param proj: Output projection matrix.
+        
 Camera::KinectCamera
 --------------------
 Creates a Kinect Camera.
 
 .. ocv:function:: static Camera KinectCamera(const Size &window_size)
 
-	:param window_size: Size of the window. This together with intrinsic matrix of a Kinect Camera determines the field of view.
+    :param window_size: Size of the window. This together with intrinsic matrix of a Kinect Camera determines the field of view.
 

modules/viz/doc/widget.rst

 Widget
 ======
-	
+    
 .. highlight:: cpp
 
 In this section, the built-in widgets are presented. 
@@ -11,26 +11,26 @@ Widget
 
 Base class of all widgets. Widget is implicitly shared.::
 
-	class CV_EXPORTS Widget
-	{
-	public:
-		Widget();
-		Widget(const Widget& other);
-		Widget& operator=(const Widget& other);
-		~Widget();
-		
-		//! Create a widget directly from ply file
-		static Widget fromPlyFile(const String &file_name);
-		
-		//! Rendering properties of this particular widget
-		void setRenderingProperty(int property, double value);
-		double getRenderingProperty(int property) const;
-
-		//! Casting between widgets
-		template<typename _W> _W cast();
-	private:
-		/* hidden */
-	};
+    class CV_EXPORTS Widget
+    {
+    public:
+        Widget();
+        Widget(const Widget& other);
+        Widget& operator=(const Widget& other);
+        ~Widget();
+        
+        //! Create a widget directly from ply file
+        static Widget fromPlyFile(const String &file_name);
+        
+        //! Rendering properties of this particular widget
+        void setRenderingProperty(int property, double value);
+        double getRenderingProperty(int property) const;
+
+        //! Casting between widgets
+        template<typename _W> _W cast();
+    private:
+        /* hidden */
+    };
 
 Widget::fromPlyFile
 -------------------
@@ -38,50 +38,62 @@ Creates a widget from ply file.
 
 .. ocv:function:: static Widget fromPlyFile(const String &file_name)
 
-	:param file_name: Ply file name.
-	
+    :param file_name: Ply file name.
+    
 Widget::setRenderingProperty
 ----------------------------
 Sets rendering property of the widget.
 
 .. ocv:function:: void setRenderingProperty(int property, double value)
 
-	:param property: Property that will be modified.
-	:param value: The new value of the property.
-	
+    :param property: Property that will be modified.
+    :param value: The new value of the property.
+    
 Widget::getRenderingProperty
 ----------------------------
 Returns rendering property of the widget.
 
 .. ocv:function:: double getRenderingProperty(int property) const
 
-	:param property: Property.
-	
+    :param property: Property.
+    
 Widget::cast
 ------------
 Casts a widget to another.
 
 .. ocv:function:: template<typename _W> _W cast()
 
+WidgetAccessor
+--------------
+.. ocv:class:: WidgetAccessor
+
+This class is for users who want to develop their own widgets using VTK library API. ::
+
+    struct CV_EXPORTS WidgetAccessor
+    {
+        static vtkSmartPointer<vtkProp> getProp(const Widget &widget);
+        static void setProp(Widget &widget, vtkSmartPointer<vtkProp> prop);
+    };
+    
 Widget3D
 --------
 .. ocv:class:: Widget3D
 
 Base class of all 3D widgets. ::
 
-	class CV_EXPORTS Widget3D : public Widget
-	{
-	public:
-		Widget3D() {}
+    class CV_EXPORTS Widget3D : public Widget
+    {
+    public:
+        Widget3D() {}
 
-		void setPose(const Affine3f &pose);
-		void updatePose(const Affine3f &pose);
-		Affine3f getPose() const;
+        void setPose(const Affine3f &pose);
+        void updatePose(const Affine3f &pose);
+        Affine3f getPose() const;
 
-		void setColor(const Color &color);
-	private:
-		/* hidden */
-	};
+        void setColor(const Color &color);
+    private:
+        /* hidden */
+    };
 
 Widget3D::setPose
 -----------------
@@ -89,15 +101,15 @@ Sets pose of the widget.
 
 .. ocv:function:: void setPose(const Affine3f &pose)
 
-	:param pose: The new pose of the widget.
-	
+    :param pose: The new pose of the widget.
+    
 Widget3D::updateWidgetPose
 --------------------------
 Updates pose of the widget by pre-multiplying its current pose.
 
 .. ocv:function:: void updateWidgetPose(const Affine3f &pose)
 
-	:param pose: The pose that the current pose of the widget will be pre-multiplied by.
+    :param pose: The pose that the current pose of the widget will be pre-multiplied by.
 
 Widget3D::getPose
 -----------------
@@ -111,29 +123,29 @@ Sets the color of the widget.
 
 .. ocv:function:: void setColor(const Color &color)
 
-	:param color: Color
-	
+    :param color: Color
+    
 Widget2D
 --------
 .. ocv:class:: Widget2D
 
 Base class of all 2D widgets. ::
 
-	class CV_EXPORTS Widget2D : public Widget
-	{
-	public:
-		Widget2D() {}
+    class CV_EXPORTS Widget2D : public Widget
+    {
+    public:
+        Widget2D() {}
 
-		void setColor(const Color &color);
-	};
-	
+        void setColor(const Color &color);
+    };
+    
 Widget2D::setColor
 ------------------
 Sets the color of the widget.
 
 .. ocv:function:: void setColor(const Color &color)
 
-	:param color: Color
+    :param color: Color
 
 LineWidget
 ----------
@@ -141,64 +153,64 @@ LineWidget
 
 This 3D Widget defines a finite line. ::
 
-	class CV_EXPORTS LineWidget : public Widget3D
-	{
-	public:
-		LineWidget(const Point3f &pt1, const Point3f &pt2, const Color &color = Color::white());
-	};
-	
+    class CV_EXPORTS LineWidget : public Widget3D
+    {
+    public:
+        LineWidget(const Point3f &pt1, const Point3f &pt2, const Color &color = Color::white());
+    };
+    
 LineWidget::LineWidget
 ----------------------
 Constructs a LineWidget.
 
 .. ocv:function:: LineWidget(const Point3f &pt1, const Point3f &pt2, const Color &color = Color::white())
 
-	:param pt1: Start point of the line.
-	:param pt2: End point of the line.
-	:param color: Color of the line.
-	
+    :param pt1: Start point of the line.
+    :param pt2: End point of the line.
+    :param color: Color of the line.
+    
 PlaneWidget
 -----------
 .. ocv:class:: PlaneWidget
 
 This 3D Widget defines a finite plane. ::
 
-	class CV_EXPORTS PlaneWidget : public Widget3D
-	{
-	public:
-		PlaneWidget(const Vec4f& coefs, double size = 1.0, const Color &color = Color::white());
-		PlaneWidget(const Vec4f& coefs, const Point3f& pt, double size = 1.0, const Color &color = Color::white());
-	private:
-		/* hidden */
-	};
-	
+    class CV_EXPORTS PlaneWidget : public Widget3D
+    {
+    public:
+        PlaneWidget(const Vec4f& coefs, double size = 1.0, const Color &color = Color::white());
+        PlaneWidget(const Vec4f& coefs, const Point3f& pt, double size = 1.0, const Color &color = Color::white());
+    private:
+        /* hidden */
+    };
+    
 PlaneWidget::PlaneWidget
 ------------------------
 Constructs a PlaneWidget.
 
 .. ocv:function:: PlaneWidget(const Vec4f& coefs, double 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: Color of the plane.
+    
+    :param coefs: Plane coefficients as in (A,B,C,D) where Ax + By + Cz + D = 0.
+    :param size: Size of the plane.
+    :param color: Color of the plane.
 
 .. ocv:function:: PlaneWidget(const Vec4f& coefs, const Point3f& pt, double 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.
-	:param color: Color of the plane.
-	
+    :param coefs: Plane coefficients as in (A,B,C,D) where Ax + By + Cz + D = 0.
+    :param pt: Position of the plane.
+    :param color: Color of the plane.
+    
 SphereWidget
 ------------
 .. ocv:class:: SphereWidget
 
 This 3D Widget defines a sphere. ::
 
-	class CV_EXPORTS SphereWidget : public Widget3D
-	{
-	public:
-		SphereWidget(const cv::Point3f &center, float radius, int sphere_resolution = 10, const Color &color = Color::white())
-	};
+    class CV_EXPORTS SphereWidget : public Widget3D
+    {
+    public:
+        SphereWidget(const cv::Point3f &center, float radius, int sphere_resolution = 10, const Color &color = Color::white())
+    };
 
 SphereWidget::SphereWidget
 --------------------------
@@ -206,10 +218,10 @@ Constructs a SphereWidget.
 
 .. ocv:function:: SphereWidget(const cv::Point3f &center, float radius, int sphere_resolution = 10, const Color &color = Color::white())
 
-	:param center: Center of the sphere.
-	:param radius: Radius of the sphere.
-	:param sphere_resolution: Resolution of the sphere.
-	:param color: Color of the sphere.
+    :param center: Center of the sphere.
+    :param radius: Radius of the sphere.
+    :param sphere_resolution: Resolution of the sphere.
+    :param color: Color of the sphere.
 
 ArrowWidget
 -----------
@@ -217,59 +229,59 @@ ArrowWidget
 
 This 3D Widget defines an arrow. ::
 
-	class CV_EXPORTS ArrowWidget : public Widget3D
-	{
-	public:
-		ArrowWidget(const Point3f& pt1, const Point3f& pt2, double thickness = 0.03, const Color &color = Color::white());
-	};
-	
+    class CV_EXPORTS ArrowWidget : public Widget3D
+    {
+    public:
+        ArrowWidget(const Point3f& pt1, const Point3f& pt2, double thickness = 0.03, const Color &color = Color::white());
+    };
+    
 ArrowWidget::ArrowWidget
 ------------------------
 Constructs an ArrowWidget.
 
 .. ocv:function:: ArrowWidget(const Point3f& pt1, const Point3f& pt2, double thickness = 0.03, const Color &color = Color::white())
 
-	:param pt1: Start point of the arrow.
-	:param pt2: End point of the arrow.
-	:param thickness: Thickness of the arrow. Thickness of arrow head is also adjusted accordingly.
-	:param color: Color of the arrow.
-	
+    :param pt1: Start point of the arrow.
+    :param pt2: End point of the arrow.
+    :param thickness: Thickness of the arrow. Thickness of arrow head is also adjusted accordingly.
+    :param color: Color of the arrow.
+    
 Arrow head is located at the end point of the arrow.
-	
+    
 CircleWidget
 ------------
 .. ocv:class:: CircleWidget
 
 This 3D Widget defines a circle. ::
 
-	class CV_EXPORTS CircleWidget : public Widget3D
-	{
-	public:
-		CircleWidget(const Point3f& pt, double radius, double thickness = 0.01, const Color &color = Color::white());
-	};
-	
+    class CV_EXPORTS CircleWidget : public Widget3D
+    {
+    public:
+        CircleWidget(const Point3f& pt, double radius, double thickness = 0.01, const Color &color = Color::white());
+    };
+    
 CircleWidget::CircleWidget
 --------------------------
 Constructs a CircleWidget.
 
 .. ocv:function:: CircleWidget(const Point3f& pt, double radius, double thickness = 0.01, const Color &color = Color::white())
 
-	:param pt: Center of the circle.
-	:param radius: Radius of the circle.
-	:param thickness: Thickness of the circle.
-	:param color: Color of the circle.
-	
+    :param pt: Center of the circle.
+    :param radius: Radius of the circle.
+    :param thickness: Thickness of the circle.
+    :param color: Color of the circle.
+    
 CylinderWidget
 --------------
 .. ocv:class:: CylinderWidget
 
 This 3D Widget defines a cylinder. ::
 
-	class CV_EXPORTS CylinderWidget : public Widget3D
-	{
-	public:
-		CylinderWidget(const Point3f& pt_on_axis, const Point3f& axis_direction, double radius, int numsides = 30, const Color &color = Color::white());
-	};
+    class CV_EXPORTS CylinderWidget : public Widget3D
+    {
+    public:
+        CylinderWidget(const Point3f& pt_on_axis, const Point3f& axis_direction, double radius, int numsides = 30, const Color &color = Color::white());
+    };
 
 CylinderWidget::CylinderWidget
 ------------------------------
@@ -277,146 +289,146 @@ Constructs a CylinderWidget.
 
 .. ocv:function:: CylinderWidget(const Point3f& pt_on_axis, const Point3f& axis_direction, double 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.
-	:param radius: Radius of the cylinder.
-	:param numsides: Resolution of the cylinder.
-	:param color: Color of the cylinder.
-	
+    :param pt_on_axis: A point on the axis of the cylinder.
+    :param axis_direction: Direction of the axis of the cylinder.
+    :param radius: Radius of the cylinder.
+    :param numsides: Resolution of the cylinder.
+    :param color: Color of the cylinder.
+    
 CubeWidget
 ----------
 .. ocv:class:: CubeWidget
 
 This 3D Widget defines a cube. ::
 
-	class CV_EXPORTS CubeWidget : public Widget3D
-	{
-	public:
-		CubeWidget(const Point3f& pt_min, const Point3f& pt_max, bool wire_frame = true, const Color &color = Color::white());
-	};
-	
+    class CV_EXPORTS CubeWidget : public Widget3D
+    {
+    public:
+        CubeWidget(const Point3f& pt_min, const Point3f& pt_max, bool wire_frame = true, const Color &color = Color::white());
+    };
+    
 CubeWidget::CubeWidget
 ----------------------
 Constructs a CudeWidget.
 
 .. ocv:function:: CubeWidget(const Point3f& pt_min, const Point3f& pt_max, bool wire_frame = true, const Color &color = Color::white())
 
-	:param pt_min: Specifies minimum point of the bounding box.
-	:param pt_max: Specifies maximum point of the bounding box.
-	:param wire_frame: If true, cube is represented as wireframe.
-	:param color: Color of the cube.
-	
+    :param pt_min: Specifies minimum point of the bounding box.
+    :param pt_max: Specifies maximum point of the bounding box.
+    :param wire_frame: If true, cube is represented as wireframe.
+    :param color: Color of the cube.
+    
 CoordinateSystemWidget
 ----------------------
 .. ocv:class:: CoordinateSystemWidget
 
 This 3D Widget represents a coordinate system. ::
 
-	class CV_EXPORTS CoordinateSystemWidget : public Widget3D
-	{
-	public:
-		CoordinateSystemWidget(double scale = 1.0);
-	};
-	
+    class CV_EXPORTS CoordinateSystemWidget : public Widget3D
+    {
+    public:
+        CoordinateSystemWidget(double scale = 1.0);
+    };
+    
 CoordinateSystemWidget::CoordinateSystemWidget
 ----------------------------------------------
 Constructs a CoordinateSystemWidget.
 
 .. ocv:function:: CoordinateSystemWidget(double scale = 1.0)
 
-	:param scale: Determines the size of the axes.
-	
+    :param scale: Determines the size of the axes.
+    
 PolyLineWidget
 --------------
 .. ocv:class:: PolyLineWidget
 
 This 3D Widget defines a poly line. ::
 
-	class CV_EXPORTS PolyLineWidget : public Widget3D
-	{
-	public:
-		PolyLineWidget(InputArray points, const Color &color = Color::white());
+    class CV_EXPORTS PolyLineWidget : public Widget3D
+    {
+    public:
+        PolyLineWidget(InputArray points, const Color &color = Color::white());
 
-	private:
-		/* hidden */
-	};
+    private:
+        /* hidden */
+    };
 
 PolyLineWidget::PolyLineWidget
 ------------------------------
 Constructs a PolyLineWidget.
 
 .. ocv:function:: PolyLineWidget(InputArray points, const Color &color = Color::white())
-	
-	:param points: Point set.
-	:param color: Color of the poly line.
-	
+    
+    :param points: Point set.
+    :param color: Color of the poly line.
+    
 GridWidget
 ----------
 .. ocv:class:: GridWidget
 
 This 3D Widget defines a grid. ::
 
-	class CV_EXPORTS GridWidget : public Widget3D
-	{
-	public:
-		//! Creates grid at the origin
-		GridWidget(const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
-		//! Creates grid based on the plane equation
-		GridWidget(const Vec4f &coeffs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
-	private:
-		/* hidden */
-	};
-	
+    class CV_EXPORTS GridWidget : public Widget3D
+    {
+    public:
+        //! Creates grid at the origin
+        GridWidget(const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
+        //! Creates grid based on the plane equation
+        GridWidget(const Vec4f &coeffs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
+    private:
+        /* hidden */
+    };
+    
 GridWidget::GridWidget
 ----------------------
 Constructs a GridWidget.
 
 .. ocv:function:: GridWidget(const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white())
 
-	:param dimensions: Number of columns and rows, respectively.
-	:param spacing: Size of each column and row, respectively.
-	:param color: Color of the grid.
-	
+    :param dimensions: Number of columns and rows, respectively.
+    :param spacing: Size of each column and row, respectively.
+    :param color: Color of the grid.
+    
 .. ocv:function:  GridWidget(const Vec4f &coeffs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white())
-	
-	:param coeffs: Plane coefficients as in (A,B,C,D) where Ax + By + Cz + D = 0.
-	:param dimensions: Number of columns and rows, respectively.
-	:param spacing: Size of each column and row, respectively.
-	:param color: Color of the grid.
-	
+    
+    :param coeffs: Plane coefficients as in (A,B,C,D) where Ax + By + Cz + D = 0.
+    :param dimensions: Number of columns and rows, respectively.
+    :param spacing: Size of each column and row, respectively.
+    :param color: Color of the grid.
+    
 Text3DWidget
 ------------
 .. ocv:class:: Text3DWidget
 
 This 3D Widget represents 3D text. The text always faces the camera. ::
 
-	class CV_EXPORTS Text3DWidget : public Widget3D
-	{
-	public:
-		Text3DWidget(const String &text, const Point3f &position, double text_scale = 1.0, const Color &color = Color::white());
+    class CV_EXPORTS Text3DWidget : public Widget3D
+    {
+    public:
+        Text3DWidget(const String &text, const Point3f &position, double text_scale = 1.0, const Color &color = Color::white());
 
-		void setText(const String &text);
-		String getText() const;
-	};
-	
+        void setText(const String &text);
+        String getText() const;
+    };
+    
 Text3DWidget::Text3DWidget
 --------------------------
 Constructs a Text3DWidget.
 
 .. ocv:function:: Text3DWidget(const String &text, const Point3f &position, double text_scale = 1.0, const Color &color = Color::white())
 
-	:param text: Text content of the widget.
-	:param position: Position of the text.
-	:param text_scale: Size of the text.
-	:param color: Color of the text.
-	
+    :param text: Text content of the widget.
+    :param position: Position of the text.
+    :param text_scale: Size of the text.
+    :param color: Color of the text.
+    
 Text3DWidget::setText
 ---------------------
 Sets the text content of the widget.
 
 .. ocv:function:: void setText(const String &text)
 
-	:param text: Text content of the widget.
+    :param text: Text content of the widget.
 
 Text3DWidget::getText
 ---------------------
@@ -430,33 +442,33 @@ TextWidget
 
 This 2D Widget represents text overlay. ::
 
-	class CV_EXPORTS TextWidget : public Widget2D
-	{
-	public:
-		TextWidget(const String &text, const Point2i &pos, int font_size = 10, const Color &color = Color::white());
+    class CV_EXPORTS TextWidget : public Widget2D
+    {
+    public:
+        TextWidget(const String &text, const Point2i &pos, int font_size = 10, const Color &color = Color::white());
 
-		void setText(const String &text);
-		String getText() const;
-	};
-	
+        void setText(const String &text);
+        String getText() const;
+    };
+    
 TextWidget::TextWidget
 ----------------------
 Constructs a TextWidget.
 
 .. ocv:function:: TextWidget(const String &text, const Point2i &pos, int font_size = 10, const Color &color = Color::white())
 
-	:param text: Text content of the widget.
-	:param pos: Position of the text.
-	:param font_size: Font size.
-	:param color: Color of the text.
-	
+    :param text: Text content of the widget.
+    :param pos: Position of the text.
+    :param font_size: Font size.
+    :param color: Color of the text.
+    
 TextWidget::setText
 ---------------------
 Sets the text content of the widget.
 
 .. ocv:function:: void setText(const String &text)
 
-	:param text: Text content of the widget.
+    :param text: Text content of the widget.
 
 TextWidget::getText
 ---------------------
@@ -470,181 +482,181 @@ ImageOverlayWidget
 
 This 2D Widget represents an image overlay. ::
 
-	class CV_EXPORTS ImageOverlayWidget : public Widget2D
-	{
-	public:
-		ImageOverlayWidget(const Mat &image, const Rect &rect);
-		
-		void setImage(const Mat &image);
-	};
-	
+    class CV_EXPORTS ImageOverlayWidget : public Widget2D
+    {
+    public:
+        ImageOverlayWidget(const Mat &image, const Rect &rect);
+        
+        void setImage(const Mat &image);
+    };
+    
 ImageOverlayWidget::ImageOverlayWidget
 --------------------------------------
 Constructs a ImageOverlayWidget.
 
 .. ocv:function:: ImageOverlayWidget(const Mat &image, const Rect &rect)
 
-	:param image: BGR or Gray-Scale image.
-	:param rect: Image is scaled and positioned based on rect.
-	
+    :param image: BGR or Gray-Scale image.
+    :param rect: Image is scaled and positioned based on rect.
+    
 ImageOverlayWidget::setImage
 ----------------------------
 Sets the image content of the widget.
 
 .. ocv:function:: void setImage(const Mat &image)
 
-	:param image: BGR or Gray-Scale image.
-	
+    :param image: BGR or Gray-Scale image.
+    
 Image3DWidget
 -------------
 .. ocv:class:: Image3DWidget
 
 This 3D Widget represents 3D image. ::
 
-	class CV_EXPORTS Image3DWidget : public Widget3D
-	{
-	public:
-		//! Creates 3D image at the origin
-		Image3DWidget(const Mat &image, const Size &size);
-		//! Creates 3D image at a given position, pointing in the direction of the normal, and having the up_vector orientation
-		Image3DWidget(const Vec3f &position, const Vec3f &normal, const Vec3f &up_vector, const Mat &image, const Size &size);
-		
-		void setImage(const Mat &image);
-	};
+    class CV_EXPORTS Image3DWidget : public Widget3D
+    {
+    public:
+        //! Creates 3D image at the origin
+        Image3DWidget(const Mat &image, const Size &size);
+        //! Creates 3D image at a given position, pointing in the direction of the normal, and having the up_vector orientation
+        Image3DWidget(const Vec3f &position, const Vec3f &normal, const Vec3f &up_vector, const Mat &image, const Size &size);
+        
+        void setImage(const Mat &image);
+    };
 
 Image3DWidget::Image3DWidget
 ----------------------------
 Constructs a Image3DWidget.
 
 .. ocv:function:: Image3DWidget(const Mat &image, const Size &size)
-	
-	:param image: BGR or Gray-Scale image.
-	:param size: Size of the image.
-	
+    
+    :param image: BGR or Gray-Scale image.
+    :param size: Size of the image.
+    
 .. ocv:function:: Image3DWidget(const Vec3f &position, const Vec3f &normal, const Vec3f &up_vector, const Mat &image, const Size &size)
 
-	:param position: Position of the image.
-	:param normal: Normal of the plane that represents the image.
-	:param up_vector: Determines orientation of the image.
-	:param image: BGR or Gray-Scale image.
-	:param size: Size of the image.
-	
+    :param position: Position of the image.
+    :param normal: Normal of the plane that represents the image.
+    :param up_vector: Determines orientation of the image.
+    :param image: BGR or Gray-Scale image.
+    :param size: Size of the image.
+    
 Image3DWidget::setImage
 -----------------------
 Sets the image content of the widget.
 
 .. ocv:function:: void setImage(const Mat &image)
 
-	:param image: BGR or Gray-Scale image.
-	
+    :param image: BGR or Gray-Scale image.
+    
 CameraPositionWidget
 --------------------
 .. ocv:class:: CameraPositionWidget
 
 This 3D Widget represents camera position. ::
 
-	class CV_EXPORTS CameraPositionWidget : public Widget3D
-	{
-	public:
-		//! Creates camera coordinate frame (axes) at the origin
-		CameraPositionWidget(double scale = 1.0);
-		//! Creates frustum based on the intrinsic marix K at the origin
-		CameraPositionWidget(const Matx33f &K, double scale = 1.0, const Color &color = Color::white());
-		//! Creates frustum based on the field of view at the origin
-		CameraPositionWidget(const Vec2f &fov, double scale = 1.0, const Color &color = Color::white());
-		//! Creates frustum and display given image at the far plane
-		CameraPositionWidget(const Matx33f &K, const Mat &img, double scale = 1.0, const Color &color = Color::white());
-	};
-	
+    class CV_EXPORTS CameraPositionWidget : public Widget3D
+    {
+    public:
+        //! Creates camera coordinate frame (axes) at the origin
+        CameraPositionWidget(double scale = 1.0);
+        //! Creates frustum based on the intrinsic marix K at the origin
+        CameraPositionWidget(const Matx33f &K, double scale = 1.0, const Color &color = Color::white());
+        //! Creates frustum based on the field of view at the origin
+        CameraPositionWidget(const Vec2f &fov, double scale = 1.0, const Color &color = Color::white());
+        //! Creates frustum and display given image at the far plane
+        CameraPositionWidget(const Matx33f &K, const Mat &img, double scale = 1.0, const Color &color = Color::white());
+    };
+    
 CameraPositionWidget::CameraPositionWidget
 ------------------------------------------
 Constructs a CameraPositionWidget.
 
 .. ocv:function:: CameraPositionWidget(double scale = 1.0)
 
-	Creates camera coordinate frame at the origin.
-	
+    Creates camera coordinate frame at the origin.
+    
 .. ocv:function:: CameraPositionWidget(const Matx33f &K, double scale = 1.0, const Color &color = Color::white())
 
-	:param K: Intrinsic matrix of the camera.
-	:param scale: Scale of the frustum.
-	:param color: Color of the frustum.
-	
-	Creates viewing frustum of the camera based on its intrinsic matrix K.
-	
+    :param K: Intrinsic matrix of the camera.
+    :param scale: Scale of the frustum.
+    :param color: Color of the frustum.
+    
+    Creates viewing frustum of the camera based on its intrinsic matrix K.
+    
 .. ocv:function:: CameraPositionWidget(const Vec2f &fov, double scale = 1.0, const Color &color = Color::white())
 
-	:param fov: Field of view of the camera (horizontal, vertical).
-	:param scale: Scale of the frustum.
-	:param color: Color of the frustum.
-	
-	Creates viewing frustum of the camera based on its field of view fov.
+    :param fov: Field of view of the camera (horizontal, vertical).
+    :param scale: Scale of the frustum.
+    :param color: Color of the frustum.
+    
+    Creates viewing frustum of the camera based on its field of view fov.
 
 .. ocv:function:: CameraPositionWidget(const Matx33f &K, const Mat &img, double 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 at the far plane of the frustum.
-	:param scale: Scale of the frustum and image.
-	:param color: Color of the frustum.
-	
-	Creates viewing frustum of the camera based on its intrinsic matrix K, and displays image on the far end plane.
-	
+    :param K: Intrinsic matrix of the camera.
+    :param img: BGR or Gray-Scale image that is going to be displayed at the far plane of the frustum.
+    :param scale: Scale of the frustum and image.
+    :param color: Color of the frustum.
+    
+    Creates viewing frustum of the camera based on its intrinsic matrix K, and displays image on the far end plane.
+    
 TrajectoryWidget
 ----------------
 .. ocv:class:: TrajectoryWidget
 
 This 3D Widget represents a trajectory. ::
 
-	class CV_EXPORTS TrajectoryWidget : public Widget3D
-	{
-	public:
-		enum {DISPLAY_FRAMES = 1, DISPLAY_PATH = 2};
-		
-		//! Displays trajectory of the given path either by coordinate frames or polyline
-		TrajectoryWidget(const std::vector<Affine3f> &path, int display_mode = TrajectoryWidget::DISPLAY_PATH, const Color &color = Color::white(), double scale = 1.0);
-		//! Displays trajectory of the given path by frustums
-		TrajectoryWidget(const std::vector<Affine3f> &path, const Matx33f &K, double scale = 1.0, const Color &color = Color::white());
-		//! Displays trajectory of the given path by frustums
-		TrajectoryWidget(const std::vector<Affine3f> &path, const Vec2f &fov, double scale = 1.0, const Color &color = Color::white());
-		
-	private:
-		/* hidden */
-	};
-	
+    class CV_EXPORTS TrajectoryWidget : public Widget3D
+    {
+    public:
+        enum {DISPLAY_FRAMES = 1, DISPLAY_PATH = 2};
+        
+        //! Displays trajectory of the given path either by coordinate frames or polyline
+        TrajectoryWidget(const std::vector<Affine3f> &path, int display_mode = TrajectoryWidget::DISPLAY_PATH, const Color &color = Color::white(), double scale = 1.0);
+        //! Displays trajectory of the given path by frustums
+        TrajectoryWidget(const std::vector<Affine3f> &path, const Matx33f &K, double scale = 1.0, const Color &color = Color::white());
+        //! Displays trajectory of the given path by frustums
+        TrajectoryWidget(const std::vector<Affine3f> &path, const Vec2f &fov, double scale = 1.0, const Color &color = Color::white());
+        
+    private:
+        /* hidden */
+    };
+    
 TrajectoryWidget::TrajectoryWidget
 ----------------------------------
 Constructs a TrajectoryWidget.
 
 .. ocv:function:: TrajectoryWidget(const std::vector<Affine3f> &path, int display_mode = TrajectoryWidget::DISPLAY_PATH, const Color &color = Color::white(), double 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.
-	:param color: Color of the polyline that represents path. Frames are not affected.
-	:param scale: Scale of the frames. Polyline is not affected.
-	
-	Displays trajectory of the given path as follows:
-	
-	* DISPLAY_PATH : Displays a poly line that represents the path.
-	* DISPLAY_FRAMES : Displays coordinate frames at each pose.
-	* DISPLAY_PATH & DISPLAY_FRAMES : Displays both poly line and coordinate frames.
-	
+    :param path: List of poses on a trajectory.
+    :param display_mode: Display mode. This can be DISPLAY_PATH, DISPLAY_FRAMES, DISPLAY_PATH & DISPLAY_FRAMES.
+    :param color: Color of the polyline that represents path. Frames are not affected.
+    :param scale: Scale of the frames. Polyline is not affected.
+    
+    Displays trajectory of the given path as follows:
+    
+    * DISPLAY_PATH : Displays a poly line that represents the path.
+    * DISPLAY_FRAMES : Displays coordinate frames at each pose.
+    * DISPLAY_PATH & DISPLAY_FRAMES : Displays both poly line and coordinate frames.
+    
 .. ocv:function:: TrajectoryWidget(const std::vector<Affine3f> &path, const Matx33f &K, double scale = 1.0, const Color &color = Color::white())
 
-	:param path: List of poses on a trajectory.
-	:param K: Intrinsic matrix of the camera.
-	:param scale: Scale of the frustums.
-	:param color: Color of the frustums.
-	
-	Displays frustums at each pose of the trajectory.
-	
+    :param path: List of poses on a trajectory.
+    :param K: Intrinsic matrix of the camera.
+    :param scale: Scale of the frustums.
+    :param color: Color of the frustums.
+    
+    Displays frustums at each pose of the trajectory.
+    
 .. ocv:function:: TrajectoryWidget(const std::vector<Affine3f> &path, const Vec2f &fov, double 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).
-	:param scale: Scale of the frustums.
-	:param color: Color of the frustums.
-	
-	Displays frustums at each pose of the trajectory.
+    :param path: List of poses on a trajectory.
+    :param fov: Field of view of the camera (horizontal, vertical).
+    :param scale: Scale of the frustums.
+    :param color: Color of the frustums.
+    
+    Displays frustums at each pose of the trajectory.
 
 SpheresTrajectoryWidget
 -----------------------
@@ -653,62 +665,62 @@ SpheresTrajectoryWidget
 This 3D Widget represents a trajectory using spheres and lines, where spheres represent the positions of the camera, and lines
 represent the direction from previous position to the current. ::
 
-	class CV_EXPORTS SpheresTrajectoryWidget : public Widget3D
-	{
-	public:
-		SpheresTrajectoryWidget(const std::vector<Affine3f> &path, float line_length = 0.05f, 
-					double init_sphere_radius = 0.021, sphere_radius = 0.007, 
-					Color &line_color = Color::white(), const Color &sphere_color = Color::white());
-	};
-	
+    class CV_EXPORTS SpheresTrajectoryWidget : public Widget3D
+    {
+    public:
+        SpheresTrajectoryWidget(const std::vector<Affine3f> &path, float line_length = 0.05f, 
+                    double init_sphere_radius = 0.021, sphere_radius = 0.007, 
+                    Color &line_color = Color::white(), const Color &sphere_color = Color::white());
+    };
+    
 SpheresTrajectoryWidget::SpheresTrajectoryWidget
 ------------------------------------------------
 Constructs a SpheresTrajectoryWidget.
 
 .. ocv:function:: SpheresTrajectoryWidget(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())
-	
-	:param path: List of poses on a trajectory.
-	:param line_length: Length of the lines.
-	:param init_sphere_radius: Radius of the first sphere which represents the initial position of the camera.
-	:param sphere_radius: Radius of the rest of the spheres.
-	:param line_color: Color of the lines.
-	:param sphere_color: Color of the spheres.
-	
+    
+    :param path: List of poses on a trajectory.
+    :param line_length: Length of the lines.
+    :param init_sphere_radius: Radius of the first sphere which represents the initial position of the camera.
+    :param sphere_radius: Radius of the rest of the spheres.
+    :param line_color: Color of the lines.
+    :param sphere_color: Color of the spheres.
+    
 CloudWidget
 -----------
 .. ocv:class:: CloudWidget
 
 This 3D Widget defines a point cloud. ::
 
-	class CV_EXPORTS CloudWidget : public Widget3D
-	{
-	public:
-		//! Each point in cloud is mapped to a color in colors
-		CloudWidget(InputArray cloud, InputArray colors);
-		//! All points in cloud have the same color
-		CloudWidget(InputArray cloud, const Color &color = Color::white());
-
-	private:
-		/* hidden */
-	};
-	
+    class CV_EXPORTS CloudWidget : public Widget3D
+    {
+    public:
+        //! Each point in cloud is mapped to a color in colors
+        CloudWidget(InputArray cloud, InputArray colors);
+        //! All points in cloud have the same color
+        CloudWidget(InputArray cloud, const Color &color = Color::white());
+
+    private:
+        /* hidden */
+    };
+    
 CloudWidget::CloudWidget
 ------------------------
 Constructs a CloudWidget.
 
 .. ocv:function:: CloudWidget(InputArray cloud, InputArray colors)
 
-	:param cloud: Point set which can be of type: CV_32FC3, CV_32FC4, CV_64FC3, CV_64FC4.
-	:param colors: Set of colors. It has to be of the same size with cloud.
-	
-	Points in the cloud belong to mask when they are set to (NaN, NaN, NaN). 
+    :param cloud: Point set which can be of type: CV_32FC3, CV_32FC4, CV_64FC3, CV_64FC4.
+    :param colors: Set of colors. It has to be of the same size with cloud.
+    
+    Points in the cloud belong to mask when they are set to (NaN, NaN, NaN). 
 
 .. ocv:function:: CloudWidget(InputArray cloud, const Color &color = Color::white())
-	
-	:param cloud: Point set which can be of type: CV_32FC3, CV_32FC4, CV_64FC3, CV_64FC4.
-	:param color: A single color for the whole cloud.
+    
+    :param cloud: Point set which can be of type: CV_32FC3, CV_32FC4, CV_64FC3, CV_64FC4.
+    :param color: A single color for the whole cloud.
 
-	Points in the cloud belong to mask when they are set to (NaN, NaN, NaN). 
+    Points in the cloud belong to mask when they are set to (NaN, NaN, NaN). 
 
 CloudCollectionWidget
 ---------------------
@@ -716,20 +728,20 @@ CloudCollectionWidget
 
 This 3D Widget defines a collection of clouds. ::
 
-	class CV_EXPORTS CloudCollectionWidget : public Widget3D
-	{
-	public:
-		CloudCollectionWidget();
-		
-		//! Each point in cloud is mapped to a color in colors
-		void addCloud(InputArray cloud, InputArray colors, const Affine3f &pose = Affine3f::Identity());
-		//! All points in cloud have the same color
-		void addCloud(InputArray cloud, const Color &color = Color::white(), Affine3f &pose = Affine3f::Identity());
-		
-	private:
-		/* hidden */
-	};
-	
+    class CV_EXPORTS CloudCollectionWidget : public Widget3D
+    {
+    public:
+        CloudCollectionWidget();
+        
+        //! Each point in cloud is mapped to a color in colors
+        void addCloud(InputArray cloud, InputArray colors, const Affine3f &pose = Affine3f::Identity());
+        //! All points in cloud have the same color
+        void addCloud(InputArray cloud, const Color &color = Color::white(), Affine3f &pose = Affine3f::Identity());
+        
+    private:
+        /* hidden */
+    };
+    
 CloudCollectionWidget::CloudCollectionWidget
 --------------------------------------------
 Constructs a CloudCollectionWidget.
@@ -742,69 +754,69 @@ Adds a cloud to the collection.
 
 .. ocv:function:: void addCloud(InputArray cloud, InputArray colors, const Affine3f &pose = Affine3f::Identity())
 
-	:param cloud: Point set which can be of type: CV_32FC3, CV_32FC4, CV_64FC3, CV_64FC4.
-	:param colors: Set of colors. It has to be of the same size with cloud.
-	:param pose: Pose of the cloud.
-	
-	Points in the cloud belong to mask when they are set to (NaN, NaN, NaN). 
-	
+    :param cloud: Point set which can be of type: CV_32FC3, CV_32FC4, CV_64FC3, CV_64FC4.
+    :param colors: Set of colors. It has to be of the same size with cloud.
+    :param pose: Pose of the cloud.
+    
+    Points in the cloud belong to mask when they are set to (NaN, NaN, NaN). 
+    
 .. ocv:function:: void addCloud(InputArray cloud, const Color &color = Color::white(), const Affine3f &pose = Affine3f::Identity())
 
-	:param cloud: Point set which can be of type: CV_32FC3, CV_32FC4, CV_64FC3, CV_64FC4.
-	:param colors: A single color for the whole cloud.
-	:param pose: Pose of the cloud.
-	
-	Points in the cloud belong to mask when they are set to (NaN, NaN, NaN). 
-	
+    :param cloud: Point set which can be of type: CV_32FC3, CV_32FC4, CV_64FC3, CV_64FC4.
+    :param colors: A single color for the whole cloud.
+    :param pose: Pose of the cloud.
+    
+    Points in the cloud belong to mask when they are set to (NaN, NaN, NaN). 
+    
 CloudNormalsWidget
 ------------------
 .. ocv:class:: CloudNormalsWidget
 
 This 3D Widget represents normals of a point cloud. ::
 
-	class CV_EXPORTS CloudNormalsWidget : public Widget3D
-	{
-	public:
-		CloudNormalsWidget(InputArray cloud, InputArray normals, int level = 100, float scale = 0.02f, const Color &color = Color::white());
+    class CV_EXPORTS CloudNormalsWidget : public Widget3D
+    {
+    public:
+        CloudNormalsWidget(InputArray cloud, InputArray normals, int level = 100, float scale = 0.02f, const Color &color = Color::white());
 
-	private:
-		/* hidden */
-	};
-	
+    private:
+        /* hidden */
+    };
+    
 CloudNormalsWidget::CloudNormalsWidget
 --------------------------------------
 Constructs a CloudNormalsWidget.
 
 .. ocv:function:: CloudNormalsWidget(InputArray cloud, InputArray normals, int level = 100, float scale = 0.02f, const Color &color = Color::white())
-	
-	:param cloud: Point set which can be of type: CV_32FC3, CV_32FC4, CV_64FC3, CV_64FC4.
-	:param normals: A set of normals that has to be of same type with cloud.
-	:param level: Display only every levelth normal.
-	:param scale: Scale of the arrows that represent normals.
-	:param color: Color of the arrows that represent normals.
-	
+    
+    :param cloud: Point set which can be of type: CV_32FC3, CV_32FC4, CV_64FC3, CV_64FC4.
+    :param normals: A set of normals that has to be of same type with cloud.
+    :param level: Display only every levelth normal.
+    :param scale: Scale of the arrows that represent normals.
+    :param color: Color of the arrows that represent normals.
+    
 MeshWidget
 ----------
 .. ocv:class:: MeshWidget
 
 This 3D Widget defines a mesh. ::
-	
-	class CV_EXPORTS MeshWidget : public Widget3D
-	{
-	public:
-		MeshWidget(const Mesh3d &mesh);
-		
-	private:
-		/* hidden */
-	};
-	
+    
+    class CV_EXPORTS MeshWidget : public Widget3D
+    {
+    public:
+        MeshWidget(const Mesh3d &mesh);
+        
+    private:
+        /* hidden */
+    };
+    
 MeshWidget::MeshWidget
 ----------------------
 Constructs a MeshWidget.
 
 .. ocv:function:: MeshWidget(const Mesh3d &mesh)
 
-	:param mesh: Mesh object that will be displayed.
+    :param mesh: Mesh object that will be displayed.