diff --git a/3rdparty/libtiff/tif_config.h.cmakein b/3rdparty/libtiff/tif_config.h.cmakein
index 182f2833d1..24f58119ba 100644
--- a/3rdparty/libtiff/tif_config.h.cmakein
+++ b/3rdparty/libtiff/tif_config.h.cmakein
@@ -54,7 +54,7 @@
 
 /* Native cpu byte order: 1 if big-endian (Motorola) or 0 if little-endian
    (Intel) */
-#define HOST_BIGENDIAN 0
+#define HOST_BIGENDIAN @WORDS_BIGENDIAN@
 
 /* Set the native cpu bit order (FILLORDER_LSB2MSB or FILLORDER_MSB2LSB) */
 #define HOST_FILLORDER FILLORDER_LSB2MSB
@@ -156,15 +156,7 @@
 
 /* Define WORDS_BIGENDIAN to 1 if your processor stores words with the most
    significant byte first (like Motorola and SPARC, unlike Intel). */
-#if defined AC_APPLE_UNIVERSAL_BUILD
-# if defined __BIG_ENDIAN__
-#  define WORDS_BIGENDIAN 1
-# endif
-#else
-# ifndef WORDS_BIGENDIAN
-/* #  undef WORDS_BIGENDIAN */
-# endif
-#endif
+#cmakedefine WORDS_BIGENDIAN 1
 
 /* Support Deflate compression */
 #define ZIP_SUPPORT 1
diff --git a/CMakeLists.txt b/CMakeLists.txt
index eb25cd3474..b5fbb9f2b2 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -128,6 +128,7 @@ OCV_OPTION(WITH_1394           "Include IEEE1394 support"                    ON
 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_CUDA           "Include NVidia Cuda Runtime support"         ON   IF (CMAKE_VERSION VERSION_GREATER "2.8" AND NOT IOS) )
+OCV_OPTION(WITH_VTK            "Include VTK library support (and build opencv_viz module eiher)"             OFF IF (NOT ANDROID AND NOT IOS) )
 OCV_OPTION(WITH_CUFFT          "Include NVidia Cuda Fast Fourier Transform (FFT) library support"            ON  IF (CMAKE_VERSION VERSION_GREATER "2.8" AND NOT IOS) )
 OCV_OPTION(WITH_CUBLAS         "Include NVidia Cuda Basic Linear Algebra Subprograms (BLAS) library support" OFF IF (CMAKE_VERSION VERSION_GREATER "2.8" AND NOT IOS) )
 OCV_OPTION(WITH_NVCUVID        "Include NVidia Video Decoding library support"                               OFF IF (CMAKE_VERSION VERSION_GREATER "2.8" AND NOT ANDROID AND NOT IOS AND NOT APPLE) )
@@ -141,7 +142,7 @@ OCV_OPTION(WITH_IPP            "Include Intel IPP support"                   OFF
 OCV_OPTION(WITH_JASPER         "Include JPEG2K support"                      ON   IF (NOT IOS) )
 OCV_OPTION(WITH_JPEG           "Include JPEG support"                        ON)
 OCV_OPTION(WITH_OPENEXR        "Include ILM support via OpenEXR"             ON   IF (NOT IOS) )
-OCV_OPTION(WITH_OPENGL         "Include OpenGL support"                      OFF  IF (NOT ANDROID AND NOT APPLE) )
+OCV_OPTION(WITH_OPENGL         "Include OpenGL support"                      OFF  IF (NOT ANDROID) )
 OCV_OPTION(WITH_OPENNI         "Include OpenNI support"                      OFF  IF (NOT ANDROID AND NOT IOS) )
 OCV_OPTION(WITH_PNG            "Include PNG support"                         ON)
 OCV_OPTION(WITH_PVAPI          "Include Prosilica GigE support"              ON   IF (NOT ANDROID AND NOT IOS) )
@@ -197,7 +198,7 @@ OCV_OPTION(INSTALL_C_EXAMPLES       "Install C examples"        OFF )
 OCV_OPTION(INSTALL_PYTHON_EXAMPLES  "Install Python examples"   OFF )
 OCV_OPTION(INSTALL_ANDROID_EXAMPLES "Install Android examples"  OFF IF ANDROID )
 OCV_OPTION(INSTALL_TO_MANGLED_PATHS "Enables mangled install paths, that help with side by side installs." OFF IF (UNIX AND NOT ANDROID AND NOT IOS AND BUILD_SHARED_LIBS) )
-
+OCV_OPTION(INSTALL_TESTS            "Install accuracy and performance test binaries and test data" OFF)
 
 # OpenCV build options
 # ===================================================
@@ -205,6 +206,7 @@ OCV_OPTION(ENABLE_DYNAMIC_CUDA        "Enabled dynamic CUDA linkage"
 OCV_OPTION(ENABLE_PRECOMPILED_HEADERS "Use precompiled headers"                                  ON   IF (NOT IOS) )
 OCV_OPTION(ENABLE_SOLUTION_FOLDERS    "Solution folder in Visual Studio or in other IDEs"        (MSVC_IDE OR CMAKE_GENERATOR MATCHES Xcode) IF (CMAKE_VERSION VERSION_GREATER "2.8.0") )
 OCV_OPTION(ENABLE_PROFILING           "Enable profiling in the GCC compiler (Add flags: -g -pg)" OFF  IF CMAKE_COMPILER_IS_GNUCXX )
+OCV_OPTION(ENABLE_COVERAGE            "Enable coverage collection with  GCov"                    OFF  IF CMAKE_COMPILER_IS_GNUCXX )
 OCV_OPTION(ENABLE_OMIT_FRAME_POINTER  "Enable -fomit-frame-pointer for GCC"                      ON   IF CMAKE_COMPILER_IS_GNUCXX AND NOT (APPLE AND CMAKE_COMPILER_IS_CLANGCXX) )
 OCV_OPTION(ENABLE_POWERPC             "Enable PowerPC for GCC"                                   ON   IF (CMAKE_COMPILER_IS_GNUCXX AND CMAKE_SYSTEM_PROCESSOR MATCHES powerpc.*) )
 OCV_OPTION(ENABLE_FAST_MATH           "Enable -ffast-math (not recommended for GCC 4.6.x)"       OFF  IF (CMAKE_COMPILER_IS_GNUCXX AND (X86 OR X86_64)) )
@@ -268,13 +270,27 @@ if(WIN32)
     message(STATUS "Can't detect runtime and/or arch")
     set(OpenCV_INSTALL_BINARIES_PREFIX "")
   endif()
+elseif(ANDROID)
+  set(OpenCV_INSTALL_BINARIES_PREFIX "sdk/native/")
 else()
   set(OpenCV_INSTALL_BINARIES_PREFIX "")
 endif()
 
-set(OPENCV_SAMPLES_BIN_INSTALL_PATH "${OpenCV_INSTALL_BINARIES_PREFIX}samples")
+if(ANDROID)
+  set(OPENCV_SAMPLES_BIN_INSTALL_PATH "${OpenCV_INSTALL_BINARIES_PREFIX}samples/${ANDROID_NDK_ABI_NAME}")
+else()
+  set(OPENCV_SAMPLES_BIN_INSTALL_PATH "${OpenCV_INSTALL_BINARIES_PREFIX}samples")
+endif()
 
-set(OPENCV_BIN_INSTALL_PATH "${OpenCV_INSTALL_BINARIES_PREFIX}bin")
+if(ANDROID)
+  set(OPENCV_BIN_INSTALL_PATH "${OpenCV_INSTALL_BINARIES_PREFIX}bin/${ANDROID_NDK_ABI_NAME}")
+else()
+  set(OPENCV_BIN_INSTALL_PATH "${OpenCV_INSTALL_BINARIES_PREFIX}bin")
+endif()
+
+if(NOT OPENCV_TEST_INSTALL_PATH)
+  set(OPENCV_TEST_INSTALL_PATH "${OPENCV_BIN_INSTALL_PATH}")
+endif()
 
 if(ANDROID)
   set(LIBRARY_OUTPUT_PATH         "${OpenCV_BINARY_DIR}/lib/${ANDROID_NDK_ABI_NAME}")
@@ -283,6 +299,7 @@ if(ANDROID)
   set(OPENCV_3P_LIB_INSTALL_PATH  sdk/native/3rdparty/libs/${ANDROID_NDK_ABI_NAME})
   set(OPENCV_CONFIG_INSTALL_PATH  sdk/native/jni)
   set(OPENCV_INCLUDE_INSTALL_PATH sdk/native/jni/include)
+  set(OPENCV_SAMPLES_SRC_INSTALL_PATH samples/native)
 else()
   set(LIBRARY_OUTPUT_PATH         "${OpenCV_BINARY_DIR}/lib")
   set(3P_LIBRARY_OUTPUT_PATH      "${OpenCV_BINARY_DIR}/3rdparty/lib${LIB_SUFFIX}")
@@ -293,9 +310,11 @@ else()
       set(OPENCV_LIB_INSTALL_PATH   "${OpenCV_INSTALL_BINARIES_PREFIX}lib${LIB_SUFFIX}")
     endif()
     set(OPENCV_3P_LIB_INSTALL_PATH  "${OpenCV_INSTALL_BINARIES_PREFIX}staticlib${LIB_SUFFIX}")
+    set(OPENCV_SAMPLES_SRC_INSTALL_PATH    samples/native)
   else()
     set(OPENCV_LIB_INSTALL_PATH     lib${LIB_SUFFIX})
     set(OPENCV_3P_LIB_INSTALL_PATH  share/OpenCV/3rdparty/${OPENCV_LIB_INSTALL_PATH})
+    set(OPENCV_SAMPLES_SRC_INSTALL_PATH    share/OpenCV/samples)
   endif()
   set(OPENCV_INCLUDE_INSTALL_PATH "include")
 
@@ -426,6 +445,12 @@ endif()
 include(cmake/OpenCVPCHSupport.cmake)
 include(cmake/OpenCVModule.cmake)
 
+# ----------------------------------------------------------------------------
+#  Detect endianness of build platform
+# ----------------------------------------------------------------------------
+include(TestBigEndian)
+test_big_endian(WORDS_BIGENDIAN)
+
 # ----------------------------------------------------------------------------
 #  Detect 3rd-party libraries
 # ----------------------------------------------------------------------------
@@ -471,6 +496,9 @@ if(WITH_OPENCL)
   include(cmake/OpenCVDetectOpenCL.cmake)
 endif()
 
+# --- VTK support ---
+include(cmake/OpenCVDetectVTK.cmake)
+
 # ----------------------------------------------------------------------------
 # Add CUDA libraries (needed for apps/tools, samples)
 # ----------------------------------------------------------------------------
@@ -558,6 +586,49 @@ include(cmake/OpenCVGenConfig.cmake)
 # Generate Info.plist for the IOS framework
 include(cmake/OpenCVGenInfoPlist.cmake)
 
+# Generate environment setup file
+if(INSTALL_TESTS AND OPENCV_TEST_DATA_PATH AND UNIX)
+  if(ANDROID)
+    get_filename_component(TEST_PATH ${OPENCV_TEST_INSTALL_PATH} DIRECTORY)
+    configure_file("${CMAKE_CURRENT_SOURCE_DIR}/cmake/templates/opencv_run_all_tests_android.sh.in"
+                   "${CMAKE_BINARY_DIR}/unix-install/opencv_run_all_tests.sh" @ONLY)
+    install(PROGRAMS "${CMAKE_BINARY_DIR}/unix-install/opencv_run_all_tests.sh"
+            DESTINATION ${CMAKE_INSTALL_PREFIX} COMPONENT tests)
+  else()
+    configure_file("${CMAKE_CURRENT_SOURCE_DIR}/cmake/templates/opencv_testing.sh.in"
+                   "${CMAKE_BINARY_DIR}/unix-install/opencv_testing.sh" @ONLY)
+    install(FILES "${CMAKE_BINARY_DIR}/unix-install/opencv_testing.sh"
+            DESTINATION /etc/profile.d/ COMPONENT tests)
+    configure_file("${CMAKE_CURRENT_SOURCE_DIR}/cmake/templates/opencv_run_all_tests_unix.sh.in"
+                   "${CMAKE_BINARY_DIR}/unix-install/opencv_run_all_tests.sh" @ONLY)
+    install(PROGRAMS "${CMAKE_BINARY_DIR}/unix-install/opencv_run_all_tests.sh"
+            DESTINATION ${OPENCV_TEST_INSTALL_PATH} COMPONENT tests)
+
+  endif()
+endif()
+
+if(NOT OPENCV_README_FILE)
+  if(ANDROID)
+    set(OPENCV_README_FILE ${CMAKE_CURRENT_SOURCE_DIR}/platforms/android/README.android)
+  endif()
+endif()
+
+if(NOT OPENCV_LICENSE_FILE)
+  set(OPENCV_LICENSE_FILE ${CMAKE_CURRENT_SOURCE_DIR}/LICENSE)
+endif()
+
+# for UNIX it does not make sense as LICENSE and readme will be part of the package automatically
+if(ANDROID OR NOT UNIX)
+  install(FILES ${OPENCV_LICENSE_FILE}
+        PERMISSIONS OWNER_READ GROUP_READ WORLD_READ
+        DESTINATION ${CMAKE_INSTALL_PREFIX} COMPONENT libs)
+  if(OPENCV_README_FILE)
+    install(FILES ${OPENCV_README_FILE}
+            PERMISSIONS OWNER_READ GROUP_READ WORLD_READ
+            DESTINATION ${CMAKE_INSTALL_PREFIX} COMPONENT libs)
+  endif()
+endif()
+
 # ----------------------------------------------------------------------------
 # Summary:
 # ----------------------------------------------------------------------------
@@ -705,6 +776,7 @@ 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("")
diff --git a/README.md b/README.md
index 403f118eed..3a26ad8555 100644
--- a/README.md
+++ b/README.md
@@ -1,5 +1,7 @@
 ### OpenCV: Open Source Computer Vision Library
 
+[![Gittip](http://img.shields.io/gittip/OpenCV.png)](https://www.gittip.com/OpenCV/)
+
 #### Resources
 
 * Homepage: <http://opencv.org>
@@ -18,6 +20,3 @@ Summary of guidelines:
 * Include tests and documentation;
 * Clean up "oops" commits before submitting;
 * Follow the coding style guide.
-
-[![Donate OpenCV project](http://opencv.org/wp-content/uploads/2013/07/gittip1.png)](https://www.gittip.com/OpenCV/)
-[![Donate OpenCV project](http://opencv.org/wp-content/uploads/2013/07/paypal-donate-button.png)](https://www.paypal.com/cgi-bin/webscr?item_name=Donation+to+OpenCV&cmd=_donations&business=accountant%40opencv.org)
\ No newline at end of file
diff --git a/cmake/OpenCVCompilerOptions.cmake b/cmake/OpenCVCompilerOptions.cmake
index a4b039280f..d525609d18 100644
--- a/cmake/OpenCVCompilerOptions.cmake
+++ b/cmake/OpenCVCompilerOptions.cmake
@@ -187,6 +187,11 @@ if(CMAKE_COMPILER_IS_GNUCXX)
     add_extra_compiler_option(-ffunction-sections)
   endif()
 
+  if(ENABLE_COVERAGE)
+    set(OPENCV_EXTRA_C_FLAGS "${OPENCV_EXTRA_C_FLAGS} --coverage")
+    set(OPENCV_EXTRA_CXX_FLAGS "${OPENCV_EXTRA_CXX_FLAGS} --coverage")
+  endif()
+
   set(OPENCV_EXTRA_FLAGS_RELEASE "${OPENCV_EXTRA_FLAGS_RELEASE} -DNDEBUG")
   set(OPENCV_EXTRA_FLAGS_DEBUG "${OPENCV_EXTRA_FLAGS_DEBUG} -O0 -DDEBUG -D_DEBUG")
 endif()
diff --git a/cmake/OpenCVDetectAndroidSDK.cmake b/cmake/OpenCVDetectAndroidSDK.cmake
index 7a37051e49..af7427194e 100644
--- a/cmake/OpenCVDetectAndroidSDK.cmake
+++ b/cmake/OpenCVDetectAndroidSDK.cmake
@@ -180,7 +180,7 @@ unset(__android_project_chain CACHE)
 # add_android_project(target_name ${path} NATIVE_DEPS opencv_core LIBRARY_DEPS ${OpenCV_BINARY_DIR} SDK_TARGET 11)
 macro(add_android_project target path)
   # parse arguments
-  set(android_proj_arglist NATIVE_DEPS LIBRARY_DEPS SDK_TARGET IGNORE_JAVA IGNORE_MANIFEST)
+  set(android_proj_arglist NATIVE_DEPS LIBRARY_DEPS SDK_TARGET IGNORE_JAVA IGNORE_MANIFEST EMBED_CUDA FORCE_EMBED_OPENCV)
   set(__varname "android_proj_")
   foreach(v ${android_proj_arglist})
     set(${__varname}${v} "")
@@ -303,6 +303,46 @@ macro(add_android_project target path)
             add_custom_command(TARGET ${JNI_LIB_NAME} POST_BUILD COMMAND ${CMAKE_STRIP} --strip-unneeded "${android_proj_jni_location}")
         endif()
       endif()
+
+      # copy opencv_java, tbb if it is shared and dynamicuda if present if FORCE_EMBED_OPENCV flag is set
+      if(android_proj_FORCE_EMBED_OPENCV)
+        set(native_deps ${android_proj_NATIVE_DEPS})
+        # filter out gpu module as it is always static library on Android
+        list(REMOVE_ITEM native_deps "opencv_gpu")
+        if(ENABLE_DYNAMIC_CUDA)
+          list(APPEND native_deps "opencv_dynamicuda")
+        endif()
+        foreach(lib ${native_deps})
+          get_property(f TARGET ${lib} PROPERTY LOCATION)
+          get_filename_component(f_name ${f} NAME)
+          add_custom_command(
+            OUTPUT "${android_proj_bin_dir}/libs/${ANDROID_NDK_ABI_NAME}/${f_name}"
+            COMMAND ${CMAKE_COMMAND} -E copy "${f}" "${android_proj_bin_dir}/libs/${ANDROID_NDK_ABI_NAME}/${f_name}"
+            DEPENDS "${lib}" VERBATIM
+            COMMENT "Embedding ${f}")
+            list(APPEND android_proj_file_deps "${android_proj_bin_dir}/libs/${ANDROID_NDK_ABI_NAME}/${f_name}")
+        endforeach()
+      endif()
+
+      # copy all needed CUDA libs to project if EMBED_CUDA flag is present
+      if(android_proj_EMBED_CUDA)
+        set(android_proj_culibs ${CUDA_npp_LIBRARY} ${CUDA_LIBRARIES})
+        if(HAVE_CUFFT)
+          list(INSERT android_proj_culibs 0 ${CUDA_cufft_LIBRARY})
+        endif()
+        if(HAVE_CUBLAS)
+          list(INSERT android_proj_culibs 0 ${CUDA_cublas_LIBRARY})
+        endif()
+        foreach(lib ${android_proj_culibs})
+          get_filename_component(f "${lib}" NAME)
+          add_custom_command(
+            OUTPUT "${android_proj_bin_dir}/libs/${ANDROID_NDK_ABI_NAME}/${f}"
+            COMMAND ${CMAKE_COMMAND} -E copy "${lib}" "${android_proj_bin_dir}/libs/${ANDROID_NDK_ABI_NAME}/${f}"
+            DEPENDS "${lib}" VERBATIM
+            COMMENT "Embedding ${f}")
+          list(APPEND android_proj_file_deps "${android_proj_bin_dir}/libs/${ANDROID_NDK_ABI_NAME}/${f}")
+        endforeach()
+      endif()
     endif()
 
     # build java part
@@ -365,7 +405,7 @@ macro(add_android_project target path)
       endif()
       install(CODE "EXECUTE_PROCESS(COMMAND ${ANDROID_EXECUTABLE} --silent update project --path . --target \"${android_proj_sdk_target}\" --name \"${target}\" ${inst_lib_opt}
                                     WORKING_DIRECTORY \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/samples/${sample_dir}\"
-                                   )"  COMPONENT dev)
+                                   )"  COMPONENT samples)
       #empty 'gen'
       install(CODE "MAKE_DIRECTORY(\"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/samples/${sample_dir}/gen\")" COMPONENT samples)
     endif()
diff --git a/cmake/OpenCVDetectCUDA.cmake b/cmake/OpenCVDetectCUDA.cmake
index b35a7977c3..56b142970e 100644
--- a/cmake/OpenCVDetectCUDA.cmake
+++ b/cmake/OpenCVDetectCUDA.cmake
@@ -180,6 +180,9 @@ if(CUDA_FOUND)
       # we remove -Wsign-promo as it generates warnings under linux
       string(REPLACE "-Wsign-promo" "" ${var} "${${var}}")
 
+      # we remove -Wno-sign-promo as it generates warnings under linux
+      string(REPLACE "-Wno-sign-promo" "" ${var} "${${var}}")
+
       # we remove -Wno-delete-non-virtual-dtor because it's used for C++ compiler
       # but NVCC uses C compiler by default
       string(REPLACE "-Wno-delete-non-virtual-dtor" "" ${var} "${${var}}")
diff --git a/cmake/OpenCVDetectVTK.cmake b/cmake/OpenCVDetectVTK.cmake
new file mode 100644
index 0000000000..78d1a73b69
--- /dev/null
+++ b/cmake/OpenCVDetectVTK.cmake
@@ -0,0 +1,26 @@
+if(NOT WITH_VTK OR ANDROID OR IOS)
+  return()
+endif()
+
+if (HAVE_QT5)
+  message(STATUS "VTK is disabled because OpenCV is linked with Q5. Some VTK disributives are compiled with Q4 and therefore can't be linked together Qt5.")
+  return()
+endif()
+
+find_package(VTK 6.0 QUIET COMPONENTS vtkRenderingCore vtkInteractionWidgets vtkInteractionStyle vtkIOLegacy vtkIOPLY vtkRenderingFreeType vtkRenderingLOD vtkFiltersTexture vtkIOExport 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 $VTK_DIR enviroment variable to VTK install subdirectory with VTKConfig.cmake file (for windows)")
+endif()
diff --git a/cmake/OpenCVExtraTargets.cmake b/cmake/OpenCVExtraTargets.cmake
index b4d339155a..ecb2a3b36a 100644
--- a/cmake/OpenCVExtraTargets.cmake
+++ b/cmake/OpenCVExtraTargets.cmake
@@ -4,7 +4,7 @@
 CONFIGURE_FILE(
   "${OpenCV_SOURCE_DIR}/cmake/templates/cmake_uninstall.cmake.in"
   "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"
-  IMMEDIATE @ONLY)
+  @ONLY)
 
 ADD_CUSTOM_TARGET(uninstall "${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake")
 if(ENABLE_SOLUTION_FOLDERS)
diff --git a/cmake/OpenCVFindIPP.cmake b/cmake/OpenCVFindIPP.cmake
index 772cae886f..db02e6acbf 100644
--- a/cmake/OpenCVFindIPP.cmake
+++ b/cmake/OpenCVFindIPP.cmake
@@ -163,9 +163,16 @@ function(set_ipp_new_libraries _LATEST_VERSION)
         ${IPP_LIB_PREFIX}${IPP_PREFIX}${IPPCV}${IPP_SUFFIX}${IPP_LIB_SUFFIX}
         ${IPP_LIB_PREFIX}${IPP_PREFIX}${IPPI}${IPP_SUFFIX}${IPP_LIB_SUFFIX}
         ${IPP_LIB_PREFIX}${IPP_PREFIX}${IPPS}${IPP_SUFFIX}${IPP_LIB_SUFFIX}
-        ${IPP_LIB_PREFIX}${IPP_PREFIX}${IPPCORE}${IPP_SUFFIX}${IPP_LIB_SUFFIX}
-        PARENT_SCOPE)
-
+        ${IPP_LIB_PREFIX}${IPP_PREFIX}${IPPCORE}${IPP_SUFFIX}${IPP_LIB_SUFFIX})
+
+    if (UNIX)
+        set(IPP_LIBRARIES
+            ${IPP_LIBRARIES}
+            ${IPP_LIB_PREFIX}irc${CMAKE_SHARED_LIBRARY_SUFFIX}
+            ${IPP_LIB_PREFIX}imf${CMAKE_SHARED_LIBRARY_SUFFIX}
+            ${IPP_LIB_PREFIX}svml${CMAKE_SHARED_LIBRARY_SUFFIX})
+    endif()
+    set(IPP_LIBRARIES ${IPP_LIBRARIES} PARENT_SCOPE)
     return()
 
 endfunction()
@@ -208,18 +215,38 @@ function(set_ipp_variables _LATEST_VERSION)
         set(IPP_INCLUDE_DIRS ${IPP_ROOT_DIR}/include PARENT_SCOPE)
 
         if (APPLE)
-            set(IPP_LIBRARY_DIRS ${IPP_ROOT_DIR}/lib PARENT_SCOPE)
+            set(IPP_LIBRARY_DIRS ${IPP_ROOT_DIR}/lib)
         elseif (IPP_X64)
             if(NOT EXISTS ${IPP_ROOT_DIR}/lib/intel64)
                 message(SEND_ERROR "IPP EM64T libraries not found")
             endif()
-            set(IPP_LIBRARY_DIRS ${IPP_ROOT_DIR}/lib/intel64 PARENT_SCOPE)
+            set(IPP_LIBRARY_DIRS ${IPP_ROOT_DIR}/lib/intel64)
         else()
             if(NOT EXISTS ${IPP_ROOT_DIR}/lib/ia32)
                 message(SEND_ERROR "IPP IA32 libraries not found")
             endif()
-            set(IPP_LIBRARY_DIRS ${IPP_ROOT_DIR}/lib/ia32 PARENT_SCOPE)
+            set(IPP_LIBRARY_DIRS ${IPP_ROOT_DIR}/lib/ia32)
+        endif()
+
+        if (UNIX)
+            get_filename_component(INTEL_COMPILER_LIBRARY_DIR ${IPP_ROOT_DIR}/../lib REALPATH)
+            if (IPP_X64)
+                if(NOT EXISTS ${INTEL_COMPILER_LIBRARY_DIR}/intel64)
+                    message(SEND_ERROR "Intel compiler EM64T libraries not found")
+                endif()
+                set(IPP_LIBRARY_DIRS
+                    ${IPP_LIBRARY_DIRS}
+                    ${INTEL_COMPILER_LIBRARY_DIR}/intel64)
+            else()
+                if(NOT EXISTS ${INTEL_COMPILER_LIBRARY_DIR}/ia32)
+                    message(SEND_ERROR "Intel compiler IA32 libraries not found")
+                endif()
+                set(IPP_LIBRARY_DIRS
+                    ${IPP_LIBRARY_DIRS}
+                    ${INTEL_COMPILER_LIBRARY_DIR}/ia32)
+            endif()
         endif()
+        set(IPP_LIBRARY_DIRS ${IPP_LIBRARY_DIRS} PARENT_SCOPE)
 
         # set IPP_LIBRARIES variable (7.x or 8.x lib names)
         set_ipp_new_libraries(${_LATEST_VERSION})
diff --git a/cmake/OpenCVGenAndroidMK.cmake b/cmake/OpenCVGenAndroidMK.cmake
index 45193a2732..ee52fa6886 100644
--- a/cmake/OpenCVGenAndroidMK.cmake
+++ b/cmake/OpenCVGenAndroidMK.cmake
@@ -59,6 +59,24 @@ if(ANDROID)
   ocv_list_filterout(OPENCV_EXTRA_COMPONENTS_CONFIGMAKE "libcu")
   ocv_list_filterout(OPENCV_EXTRA_COMPONENTS_CONFIGMAKE "libnpp")
 
+  if(HAVE_CUDA)
+    # CUDA runtime libraries and are required always
+    set(culibs ${CUDA_LIBRARIES})
+
+    # right now NPP is requared always too
+    list(INSERT culibs 0 ${CUDA_npp_LIBRARY})
+
+    if(HAVE_CUFFT)
+      list(INSERT culibs 0 ${CUDA_cufft_LIBRARY})
+    endif()
+
+    if(HAVE_CUBLAS)
+      list(INSERT culibs 0 ${CUDA_cublas_LIBRARY})
+    endif()
+  endif()
+
+  ocv_convert_to_lib_name(CUDA_RUNTIME_LIBS_CONFIGMAKE ${culibs})
+
   # split 3rdparty libs and modules
   foreach(mod ${OPENCV_MODULES_CONFIGMAKE})
     if(NOT mod MATCHES "^opencv_.+$")
@@ -69,6 +87,10 @@ if(ANDROID)
     list(REMOVE_ITEM OPENCV_MODULES_CONFIGMAKE ${OPENCV_3RDPARTY_COMPONENTS_CONFIGMAKE})
   endif()
 
+  if(ENABLE_DYNAMIC_CUDA)
+    set(OPENCV_DYNAMICUDA_MODULE_CONFIGMAKE "dynamicuda")
+  endif()
+
   # GPU module enabled separately
   list(REMOVE_ITEM OPENCV_MODULES_CONFIGMAKE "opencv_gpu")
   list(REMOVE_ITEM OPENCV_MODULES_CONFIGMAKE "opencv_dynamicuda")
@@ -84,6 +106,7 @@ if(ANDROID)
     string(REPLACE ";" " " ${lst} "${${lst}}")
   endforeach()
   string(REPLACE "opencv_" "" OPENCV_MODULES_CONFIGMAKE "${OPENCV_MODULES_CONFIGMAKE}")
+  string(REPLACE ";" " " CUDA_RUNTIME_LIBS_CONFIGMAKE "${CUDA_RUNTIME_LIBS_CONFIGMAKE}")
 
   # prepare 3rd-party component list without TBB for armeabi and mips platforms. TBB is useless there.
   set(OPENCV_3RDPARTY_COMPONENTS_CONFIGMAKE_NO_TBB ${OPENCV_3RDPARTY_COMPONENTS_CONFIGMAKE})
@@ -105,7 +128,7 @@ if(ANDROID)
   set(OPENCV_LIBS_DIR_CONFIGCMAKE "\$(OPENCV_THIS_DIR)/lib/\$(OPENCV_TARGET_ARCH_ABI)")
   set(OPENCV_3RDPARTY_LIBS_DIR_CONFIGCMAKE "\$(OPENCV_THIS_DIR)/3rdparty/lib/\$(OPENCV_TARGET_ARCH_ABI)")
 
-  configure_file("${OpenCV_SOURCE_DIR}/cmake/templates/OpenCV.mk.in" "${CMAKE_BINARY_DIR}/OpenCV.mk" IMMEDIATE @ONLY)
+  configure_file("${OpenCV_SOURCE_DIR}/cmake/templates/OpenCV.mk.in" "${CMAKE_BINARY_DIR}/OpenCV.mk" @ONLY)
 
   # -------------------------------------------------------------------------------------------
   #  Part 2/2: ${BIN_DIR}/unix-install/OpenCV.mk -> For use with "make install"
@@ -115,6 +138,6 @@ if(ANDROID)
   set(OPENCV_LIBS_DIR_CONFIGCMAKE "\$(OPENCV_THIS_DIR)/../libs/\$(OPENCV_TARGET_ARCH_ABI)")
   set(OPENCV_3RDPARTY_LIBS_DIR_CONFIGCMAKE "\$(OPENCV_THIS_DIR)/../3rdparty/libs/\$(OPENCV_TARGET_ARCH_ABI)")
 
-  configure_file("${OpenCV_SOURCE_DIR}/cmake/templates/OpenCV.mk.in" "${CMAKE_BINARY_DIR}/unix-install/OpenCV.mk" IMMEDIATE @ONLY)
+  configure_file("${OpenCV_SOURCE_DIR}/cmake/templates/OpenCV.mk.in" "${CMAKE_BINARY_DIR}/unix-install/OpenCV.mk" @ONLY)
   install(FILES ${CMAKE_BINARY_DIR}/unix-install/OpenCV.mk DESTINATION ${OPENCV_CONFIG_INSTALL_PATH} COMPONENT dev)
 endif(ANDROID)
diff --git a/cmake/OpenCVGenConfig.cmake b/cmake/OpenCVGenConfig.cmake
index 18411e8786..cdf418ec82 100644
--- a/cmake/OpenCVGenConfig.cmake
+++ b/cmake/OpenCVGenConfig.cmake
@@ -83,9 +83,9 @@ endif()
 
 export(TARGETS ${OpenCVModules_TARGETS} FILE "${CMAKE_BINARY_DIR}/OpenCVModules${modules_file_suffix}.cmake")
 
-configure_file("${OpenCV_SOURCE_DIR}/cmake/templates/OpenCVConfig.cmake.in" "${CMAKE_BINARY_DIR}/OpenCVConfig.cmake" IMMEDIATE @ONLY)
+configure_file("${OpenCV_SOURCE_DIR}/cmake/templates/OpenCVConfig.cmake.in" "${CMAKE_BINARY_DIR}/OpenCVConfig.cmake" @ONLY)
 #support for version checking when finding opencv. find_package(OpenCV 2.3.1 EXACT) should now work.
-configure_file("${OpenCV_SOURCE_DIR}/cmake/templates/OpenCVConfig-version.cmake.in" "${CMAKE_BINARY_DIR}/OpenCVConfig-version.cmake" IMMEDIATE @ONLY)
+configure_file("${OpenCV_SOURCE_DIR}/cmake/templates/OpenCVConfig-version.cmake.in" "${CMAKE_BINARY_DIR}/OpenCVConfig-version.cmake" @ONLY)
 
 # --------------------------------------------------------------------------------------------
 #  Part 2/3: ${BIN_DIR}/unix-install/OpenCVConfig.cmake -> For use *with* "make install"
@@ -98,8 +98,8 @@ if(INSTALL_TO_MANGLED_PATHS)
   set(OpenCV_3RDPARTY_LIB_DIRS_CONFIGCMAKE "\"\${OpenCV_INSTALL_PATH}/${OpenCV_3RDPARTY_LIB_DIRS_CONFIGCMAKE}\"")
 endif()
 
-configure_file("${OpenCV_SOURCE_DIR}/cmake/templates/OpenCVConfig.cmake.in" "${CMAKE_BINARY_DIR}/unix-install/OpenCVConfig.cmake" IMMEDIATE @ONLY)
-configure_file("${OpenCV_SOURCE_DIR}/cmake/templates/OpenCVConfig-version.cmake.in" "${CMAKE_BINARY_DIR}/unix-install/OpenCVConfig-version.cmake" IMMEDIATE @ONLY)
+configure_file("${OpenCV_SOURCE_DIR}/cmake/templates/OpenCVConfig.cmake.in" "${CMAKE_BINARY_DIR}/unix-install/OpenCVConfig.cmake" @ONLY)
+configure_file("${OpenCV_SOURCE_DIR}/cmake/templates/OpenCVConfig-version.cmake.in" "${CMAKE_BINARY_DIR}/unix-install/OpenCVConfig-version.cmake" @ONLY)
 
 if(UNIX) # ANDROID configuration is created here also
   #http://www.vtk.org/Wiki/CMake/Tutorials/Packaging reference
@@ -131,8 +131,8 @@ if(WIN32)
   set(OpenCV2_INCLUDE_DIRS_CONFIGCMAKE "\"\"")
 
   exec_program(mkdir ARGS "-p \"${CMAKE_BINARY_DIR}/win-install/\"" OUTPUT_VARIABLE RET_VAL)
-  configure_file("${OpenCV_SOURCE_DIR}/cmake/templates/OpenCVConfig.cmake.in" "${CMAKE_BINARY_DIR}/win-install/OpenCVConfig.cmake" IMMEDIATE @ONLY)
-  configure_file("${OpenCV_SOURCE_DIR}/cmake/templates/OpenCVConfig-version.cmake.in" "${CMAKE_BINARY_DIR}/win-install/OpenCVConfig-version.cmake" IMMEDIATE @ONLY)
+  configure_file("${OpenCV_SOURCE_DIR}/cmake/templates/OpenCVConfig.cmake.in" "${CMAKE_BINARY_DIR}/win-install/OpenCVConfig.cmake" @ONLY)
+  configure_file("${OpenCV_SOURCE_DIR}/cmake/templates/OpenCVConfig-version.cmake.in" "${CMAKE_BINARY_DIR}/win-install/OpenCVConfig-version.cmake" @ONLY)
   if(BUILD_SHARED_LIBS)
     install(FILES "${CMAKE_BINARY_DIR}/win-install/OpenCVConfig.cmake" DESTINATION "${OpenCV_INSTALL_BINARIES_PREFIX}lib" COMPONENT dev)
     install(EXPORT OpenCVModules DESTINATION "${OpenCV_INSTALL_BINARIES_PREFIX}lib" FILE OpenCVModules${modules_file_suffix}.cmake COMPONENT dev)
diff --git a/cmake/OpenCVGenPkgconfig.cmake b/cmake/OpenCVGenPkgconfig.cmake
index 13b1e44970..fa57db9d3c 100644
--- a/cmake/OpenCVGenPkgconfig.cmake
+++ b/cmake/OpenCVGenPkgconfig.cmake
@@ -78,7 +78,7 @@ else()
 endif()
 configure_file("${OpenCV_SOURCE_DIR}/cmake/templates/opencv-XXX.pc.in"
                "${CMAKE_BINARY_DIR}/unix-install/${OPENCV_PC_FILE_NAME}"
-               @ONLY IMMEDIATE)
+               @ONLY)
 
 if(UNIX AND NOT ANDROID)
   install(FILES ${CMAKE_BINARY_DIR}/unix-install/${OPENCV_PC_FILE_NAME} DESTINATION ${OPENCV_LIB_INSTALL_PATH}/pkgconfig COMPONENT dev)
diff --git a/cmake/OpenCVModule.cmake b/cmake/OpenCVModule.cmake
index 6734462fc2..03818018d9 100644
--- a/cmake/OpenCVModule.cmake
+++ b/cmake/OpenCVModule.cmake
@@ -135,13 +135,13 @@ macro(ocv_add_module _name)
 
     # parse list of dependencies
     if("${ARGV1}" STREQUAL "INTERNAL" OR "${ARGV1}" STREQUAL "BINDINGS")
-      set(OPENCV_MODULE_${the_module}_CLASS "${ARGV1}" CACHE INTERNAL "The cathegory of the module")
+      set(OPENCV_MODULE_${the_module}_CLASS "${ARGV1}" CACHE INTERNAL "The category of the module")
       set(__ocv_argn__ ${ARGN})
       list(REMOVE_AT __ocv_argn__ 0)
       ocv_add_dependencies(${the_module} ${__ocv_argn__})
       unset(__ocv_argn__)
     else()
-      set(OPENCV_MODULE_${the_module}_CLASS "PUBLIC" CACHE INTERNAL "The cathegory of the module")
+      set(OPENCV_MODULE_${the_module}_CLASS "PUBLIC" CACHE INTERNAL "The category of the module")
       ocv_add_dependencies(${the_module} ${ARGN})
       if(BUILD_${the_module})
         set(OPENCV_MODULES_PUBLIC ${OPENCV_MODULES_PUBLIC} "${the_module}" CACHE INTERNAL "List of OpenCV modules marked for export")
@@ -711,6 +711,9 @@ function(ocv_add_perf_tests)
     else(OCV_DEPENDENCIES_FOUND)
       # TODO: warn about unsatisfied dependencies
     endif(OCV_DEPENDENCIES_FOUND)
+    if(INSTALL_TESTS)
+      install(TARGETS ${the_target} RUNTIME DESTINATION ${OPENCV_TEST_INSTALL_PATH} COMPONENT tests)
+    endif()
   endif()
 endfunction()
 
@@ -764,6 +767,10 @@ function(ocv_add_accuracy_tests)
     else(OCV_DEPENDENCIES_FOUND)
       # TODO: warn about unsatisfied dependencies
     endif(OCV_DEPENDENCIES_FOUND)
+
+    if(INSTALL_TESTS)
+      install(TARGETS ${the_target} RUNTIME DESTINATION ${OPENCV_TEST_INSTALL_PATH} COMPONENT tests)
+    endif()
   endif()
 endfunction()
 
@@ -804,7 +811,7 @@ function(ocv_add_samples)
   if(INSTALL_C_EXAMPLES AND NOT WIN32 AND EXISTS "${samples_path}")
     file(GLOB sample_files "${samples_path}/*")
     install(FILES ${sample_files}
-            DESTINATION share/OpenCV/samples/${module_id}
+            DESTINATION ${OPENCV_SAMPLES_SRC_INSTALL_PATH}/${module_id}
             PERMISSIONS OWNER_READ GROUP_READ WORLD_READ COMPONENT samples)
   endif()
 endfunction()
diff --git a/cmake/OpenCVPackaging.cmake b/cmake/OpenCVPackaging.cmake
index 4a81c255bf..91f5940960 100644
--- a/cmake/OpenCVPackaging.cmake
+++ b/cmake/OpenCVPackaging.cmake
@@ -2,24 +2,29 @@ if(EXISTS "${CMAKE_ROOT}/Modules/CPack.cmake")
 set(CPACK_set_DESTDIR "on")
 
 if(NOT OPENCV_CUSTOM_PACKAGE_INFO)
-  set(CPACK_PACKAGE_DESCRIPTION "Open Computer Vision Library")
-  set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "OpenCV")
+  set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "Open Computer Vision Library")
+  set(CPACK_PACKAGE_DESCRIPTION
+"OpenCV (Open Source Computer Vision Library) is an open source computer vision
+and machine learning software library. OpenCV was built to provide a common
+infrastructure for computer vision applications and to accelerate the use of
+machine perception in the commercial products. Being a BSD-licensed product,
+OpenCV makes it easy for businesses to utilize and modify the code.")
   set(CPACK_PACKAGE_VENDOR "OpenCV Foundation")
   set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/LICENSE")
   set(CPACK_PACKAGE_CONTACT "admin@opencv.org")
+  set(CPACK_PACKAGE_VERSION_MAJOR "${OPENCV_VERSION_MAJOR}")
+  set(CPACK_PACKAGE_VERSION_MINOR "${OPENCV_VERSION_MINOR}")
+  set(CPACK_PACKAGE_VERSION_PATCH "${OPENCV_VERSION_PATCH}")
+  set(CPACK_PACKAGE_VERSION "${OPENCV_VCSVERSION}")
 endif(NOT OPENCV_CUSTOM_PACKAGE_INFO)
 
-set(CPACK_PACKAGE_VERSION_MAJOR "${OPENCV_VERSION_MAJOR}")
-set(CPACK_PACKAGE_VERSION_MINOR "${OPENCV_VERSION_MINOR}")
-set(CPACK_PACKAGE_VERSION_PATCH "${OPENCV_VERSION_PATCH}")
-
 #arch
 if(X86)
   set(CPACK_DEBIAN_ARCHITECTURE "i386")
   set(CPACK_RPM_PACKAGE_ARCHITECTURE "i686")
 elseif(X86_64)
   set(CPACK_DEBIAN_ARCHITECTURE "amd64")
-  set(CPACK_RPM_PACKAGE_ARCHITECTURE "amd64")
+  set(CPACK_RPM_PACKAGE_ARCHITECTURE "x86_64")
 elseif(ARM)
   set(CPACK_DEBIAN_ARCHITECTURE "armhf")
   set(CPACK_RPM_PACKAGE_ARCHITECTURE "armhf")
@@ -41,11 +46,16 @@ set(CPACK_SOURCE_PACKAGE_FILE_NAME "${CMAKE_PROJECT_NAME}-${OPENCV_VCSVERSION}-$
 
 #rpm options
 set(CPACK_RPM_COMPONENT_INSTALL TRUE)
-set(CPACK_RPM_PACKAGE_LICENSE ${CPACK_RESOURCE_FILE_LICENSE})
+set(CPACK_RPM_PACKAGE_SUMMARY ${CPACK_PACKAGE_DESCRIPTION_SUMMARY})
+set(CPACK_RPM_PACKAGE_DESCRIPTION ${CPACK_PACKAGE_DESCRIPTION})
+set(CPACK_RPM_PACKAGE_URL "http://opencv.org")
+set(CPACK_RPM_PACKAGE_LICENSE "BSD")
 
 #deb options
 set(CPACK_DEB_COMPONENT_INSTALL TRUE)
-set(CPACK_DEBIAN_PACKAGE_PRIORITY "extra")
+set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
+set(CPACK_DEBIAN_PACKAGE_SECTION "libs")
+set(CPACK_DEBIAN_PACKAGE_HOMEPAGE "http://opencv.org")
 
 #depencencies
 set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS TRUE)
@@ -54,25 +64,36 @@ set(CPACK_COMPONENT_dev_DEPENDS libs)
 set(CPACK_COMPONENT_docs_DEPENDS libs)
 set(CPACK_COMPONENT_java_DEPENDS libs)
 set(CPACK_COMPONENT_python_DEPENDS libs)
+set(CPACK_COMPONENT_tests_DEPENDS libs)
+
+if(HAVE_CUDA)
+  string(REPLACE "." "-" cuda_version_suffix ${CUDA_VERSION})
+  set(CPACK_DEB_libs_PACKAGE_DEPENDS "cuda-core-libs-${cuda_version_suffix}, cuda-extra-libs-${cuda_version_suffix}")
+  set(CPACK_COMPONENT_dev_DEPENDS libs)
+  set(CPACK_DEB_dev_PACKAGE_DEPENDS "cuda-headers-${cuda_version_suffix}")
+endif()
 
 if(NOT OPENCV_CUSTOM_PACKAGE_INFO)
   set(CPACK_COMPONENT_libs_DISPLAY_NAME "lib${CMAKE_PROJECT_NAME}")
   set(CPACK_COMPONENT_libs_DESCRIPTION "Open Computer Vision Library")
 
   set(CPACK_COMPONENT_python_DISPLAY_NAME "lib${CMAKE_PROJECT_NAME}-python")
-  set(CPACK_COMPONENT_python_DESCRIPTION "Python bindings for Open Computer Vision Library")
+  set(CPACK_COMPONENT_python_DESCRIPTION "Python bindings for Open Source Computer Vision Library")
 
   set(CPACK_COMPONENT_java_DISPLAY_NAME "lib${CMAKE_PROJECT_NAME}-java")
-  set(CPACK_COMPONENT_java_DESCRIPTION "Java bindings for Open Computer Vision Library")
+  set(CPACK_COMPONENT_java_DESCRIPTION "Java bindings for Open Source Computer Vision Library")
 
   set(CPACK_COMPONENT_dev_DISPLAY_NAME "lib${CMAKE_PROJECT_NAME}-dev")
-  set(CPACK_COMPONENT_dev_DESCRIPTION "Development files for Open Computer Vision Library")
+  set(CPACK_COMPONENT_dev_DESCRIPTION "Development files for Open Source Computer Vision Library")
 
   set(CPACK_COMPONENT_docs_DISPLAY_NAME "lib${CMAKE_PROJECT_NAME}-docs")
-  set(CPACK_COMPONENT_docs_DESCRIPTION "Documentation for Open Computer Vision Library")
+  set(CPACK_COMPONENT_docs_DESCRIPTION "Documentation for Open Source Computer Vision Library")
 
   set(CPACK_COMPONENT_samples_DISPLAY_NAME "lib${CMAKE_PROJECT_NAME}-samples")
-  set(CPACK_COMPONENT_samples_DESCRIPTION "Samples for Open Computer Vision Library")
+  set(CPACK_COMPONENT_samples_DESCRIPTION "Samples for Open Source Computer Vision Library")
+
+  set(CPACK_COMPONENT_tests_DISPLAY_NAME "lib${CMAKE_PROJECT_NAME}-tests")
+  set(CPACK_COMPONENT_tests_DESCRIPTION "Accuracy and performance tests for Open Source Computer Vision Library")
 endif(NOT OPENCV_CUSTOM_PACKAGE_INFO)
 
 if(NOT OPENCV_CUSTOM_PACKAGE_LAYOUT)
diff --git a/cmake/OpenCVUtils.cmake b/cmake/OpenCVUtils.cmake
index 13461e82c1..9fa94bb8bd 100644
--- a/cmake/OpenCVUtils.cmake
+++ b/cmake/OpenCVUtils.cmake
@@ -448,6 +448,20 @@ macro(ocv_convert_to_full_paths VAR)
 endmacro()
 
 
+# convert list of paths to libraries names without lib prefix
+macro(ocv_convert_to_lib_name var)
+  set(__tmp "")
+  foreach(path ${ARGN})
+    get_filename_component(__tmp_name "${path}" NAME_WE)
+    string(REGEX REPLACE "^lib" "" __tmp_name ${__tmp_name})
+    list(APPEND __tmp "${__tmp_name}")
+  endforeach()
+  set(${var} ${__tmp})
+  unset(__tmp)
+  unset(__tmp_name)
+endmacro()
+
+
 # add install command
 function(ocv_install_target)
   install(TARGETS ${ARGN})
diff --git a/cmake/templates/OpenCV.mk.in b/cmake/templates/OpenCV.mk.in
index 0fd7b9e058..16fc4c9ccb 100644
--- a/cmake/templates/OpenCV.mk.in
+++ b/cmake/templates/OpenCV.mk.in
@@ -2,6 +2,13 @@
 # you might need to define NDK_USE_CYGPATH=1 before calling the ndk-build
 
 USER_LOCAL_PATH:=$(LOCAL_PATH)
+
+USER_LOCAL_C_INCLUDES:=$(LOCAL_C_INCLUDES)
+USER_LOCAL_CFLAGS:=$(LOCAL_CFLAGS)
+USER_LOCAL_STATIC_LIBRARIES:=$(LOCAL_STATIC_LIBRARIES)
+USER_LOCAL_SHARED_LIBRARIES:=$(LOCAL_SHARED_LIBRARIES)
+USER_LOCAL_LDLIBS:=$(LOCAL_LDLIBS)
+
 LOCAL_PATH:=$(subst ?,,$(firstword ?$(subst \, ,$(subst /, ,$(call my-dir)))))
 
 OPENCV_TARGET_ARCH_ABI:=$(TARGET_ARCH_ABI)
@@ -13,7 +20,7 @@ OPENCV_BASEDIR:=@OPENCV_BASE_INCLUDE_DIR_CONFIGCMAKE@
 OPENCV_LOCAL_C_INCLUDES:=@OPENCV_INCLUDE_DIRS_CONFIGCMAKE@
 OPENCV_MODULES:=@OPENCV_MODULES_CONFIGMAKE@
 
-OPENCV_HAVE_GPU_MODULE=@OPENCV_HAVE_GPU_MODULE_CONFIGMAKE@
+OPENCV_HAVE_GPU_MODULE:=@OPENCV_HAVE_GPU_MODULE_CONFIGMAKE@
 OPENCV_USE_GPU_MODULE:=
 
 ifeq ($(TARGET_ARCH_ABI),armeabi-v7a)
@@ -22,9 +29,12 @@ ifeq ($(TARGET_ARCH_ABI),armeabi-v7a)
             OPENCV_USE_GPU_MODULE:=on
         endif
     endif
+    OPENCV_DYNAMICUDA_MODULE:=@OPENCV_DYNAMICUDA_MODULE_CONFIGMAKE@
+else
+    OPENCV_DYNAMICUDA_MODULE:=
 endif
 
-CUDA_RUNTIME_LIBS:=cufft npps nppi nppc cudart
+CUDA_RUNTIME_LIBS:=@CUDA_RUNTIME_LIBS_CONFIGMAKE@
 
 ifeq ($(OPENCV_LIB_TYPE),)
     OPENCV_LIB_TYPE:=@OPENCV_LIBTYPE_CONFIGMAKE@
@@ -60,7 +70,7 @@ else
     endif
 endif
 
-ifeq (${OPENCV_CAMERA_MODULES},on)
+ifeq ($(OPENCV_CAMERA_MODULES),on)
     ifeq ($(TARGET_ARCH_ABI),armeabi)
         OPENCV_CAMERA_MODULES:=@OPENCV_CAMERA_LIBS_ARMEABI_CONFIGCMAKE@
     endif
@@ -91,6 +101,13 @@ define add_opencv_module
     include $(PREBUILT_$(OPENCV_LIB_TYPE)_LIBRARY)
 endef
 
+define add_cuda_module
+    include $(CLEAR_VARS)
+    LOCAL_MODULE:=$1
+    LOCAL_SRC_FILES:=$(CUDA_TOOLKIT_DIR)/targets/armv7-linux-androideabi/lib/lib$1.so
+    include $(PREBUILT_SHARED_LIBRARY)
+endef
+
 define add_opencv_3rdparty_component
     include $(CLEAR_VARS)
     LOCAL_MODULE:=$1
@@ -108,6 +125,17 @@ endef
 ifeq ($(OPENCV_MK_$(OPENCV_TARGET_ARCH_ABI)_ALREADY_INCLUDED),)
     ifeq ($(OPENCV_INSTALL_MODULES),on)
         $(foreach module,$(OPENCV_LIBS),$(eval $(call add_opencv_module,$(module))))
+        ifneq ($(OPENCV_DYNAMICUDA_MODULE),)
+            ifeq ($(OPENCV_LIB_TYPE),SHARED)
+              $(eval $(call add_opencv_module,$(OPENCV_DYNAMICUDA_MODULE)))
+            endif
+        endif
+    endif
+
+    ifeq ($(OPENCV_USE_GPU_MODULE),on)
+        ifeq ($(INSTALL_CUDA_LIBRARIES),on)
+            $(foreach module,$(CUDA_RUNTIME_LIBS),$(eval $(call add_cuda_module,$(module))))
+        endif
     endif
 
     $(foreach module,$(OPENCV_3RDPARTY_COMPONENTS),$(eval $(call add_opencv_3rdparty_component,$(module))))
@@ -136,6 +164,13 @@ ifeq ($(OPENCV_LOCAL_CFLAGS),)
 endif
 
 include $(CLEAR_VARS)
+
+LOCAL_C_INCLUDES:=$(USER_LOCAL_C_INCLUDES)
+LOCAL_CFLAGS:=$(USER_LOCAL_CFLAGS)
+LOCAL_STATIC_LIBRARIES:=$(USER_LOCAL_STATIC_LIBRARIES)
+LOCAL_SHARED_LIBRARIES:=$(USER_LOCAL_SHARED_LIBRARIES)
+LOCAL_LDLIBS:=$(USER_LOCAL_LDLIBS)
+
 LOCAL_C_INCLUDES += $(OPENCV_LOCAL_C_INCLUDES)
 LOCAL_CFLAGS     += $(OPENCV_LOCAL_CFLAGS)
 
@@ -145,6 +180,11 @@ endif
 
 ifeq ($(OPENCV_INSTALL_MODULES),on)
     LOCAL_$(OPENCV_LIB_TYPE)_LIBRARIES += $(foreach mod, $(OPENCV_LIBS), opencv_$(mod))
+    ifeq ($(OPENCV_LIB_TYPE),SHARED)
+        ifneq ($(OPENCV_DYNAMICUDA_MODULE),)
+            LOCAL_$(OPENCV_LIB_TYPE)_LIBRARIES += $(OPENCV_DYNAMICUDA_MODULE)
+        endif
+    endif
 else
     LOCAL_LDLIBS += -L$(call host-path,$(LOCAL_PATH)/$(OPENCV_LIBS_DIR)) $(foreach lib, $(OPENCV_LIBS), -lopencv_$(lib))
 endif
@@ -156,8 +196,12 @@ endif
 LOCAL_LDLIBS += $(foreach lib,$(OPENCV_EXTRA_COMPONENTS), -l$(lib))
 
 ifeq ($(OPENCV_USE_GPU_MODULE),on)
+    ifeq ($(INSTALL_CUDA_LIBRARIES),on)
+        LOCAL_SHARED_LIBRARIES += $(foreach mod, $(CUDA_RUNTIME_LIBS), $(mod))
+    else
+        LOCAL_LDLIBS += -L$(CUDA_TOOLKIT_DIR)/targets/armv7-linux-androideabi/lib $(foreach lib, $(CUDA_RUNTIME_LIBS), -l$(lib))
+    endif
     LOCAL_STATIC_LIBRARIES+=libopencv_gpu
-    LOCAL_LDLIBS += -L$(CUDA_TOOLKIT_DIR)/lib $(foreach lib, $(CUDA_RUNTIME_LIBS), -l$(lib))
 endif
 
 #restore the LOCAL_PATH
diff --git a/cmake/templates/cvconfig.h.in b/cmake/templates/cvconfig.h.in
index a6cee63684..d1c9e65d3d 100644
--- a/cmake/templates/cvconfig.h.in
+++ b/cmake/templates/cvconfig.h.in
@@ -161,6 +161,6 @@
 /* Xine video library */
 #cmakedefine HAVE_XINE
 
-/* Define to 1 if your processor stores words with the most significant byte
+/* Define if your processor stores words with the most significant byte
    first (like Motorola and SPARC, unlike Intel and VAX). */
 #cmakedefine WORDS_BIGENDIAN
diff --git a/cmake/templates/opencv_run_all_tests_android.sh.in b/cmake/templates/opencv_run_all_tests_android.sh.in
new file mode 100644
index 0000000000..93373fa964
--- /dev/null
+++ b/cmake/templates/opencv_run_all_tests_android.sh.in
@@ -0,0 +1,51 @@
+#!/bin/sh
+
+BASE_DIR=`dirname $0`
+OPENCV_TEST_PATH=$BASE_DIR/@TEST_PATH@
+OPENCV_TEST_DATA_PATH=$BASE_DIR/sdk/etc/testdata/
+
+if [ $# -ne 1 ]; then
+  echo "Device architecture is not preset in command line"
+  echo "Tests are available for architectures: `ls -m ${OPENCV_TEST_PATH}`"
+  echo "Usage: $0 <target_device_arch>"
+  return 1
+else
+  TARGET_ARCH=$1
+fi
+
+if [ -z `which adb` ]; then
+  echo "adb command was not found in PATH"
+  return 1
+fi
+
+adb push $OPENCV_TEST_DATA_PATH /sdcard/opencv_testdata
+
+adb shell "mkdir -p /data/local/tmp/opencv_test"
+SUMMARY_STATUS=0
+for t in "$OPENCV_TEST_PATH/$TARGET_ARCH/"opencv_test_* "$OPENCV_TEST_PATH/$TARGET_ARCH/"opencv_perf_*;
+do
+  test_name=`basename "$t"`
+  report="$test_name-`date --rfc-3339=date`.xml"
+  adb push $t /data/local/tmp/opencv_test/
+  adb shell "export OPENCV_TEST_DATA_PATH=/sdcard/opencv_testdata && /data/local/tmp/opencv_test/$test_name --perf_min_samples=1 --perf_force_samples=1 --gtest_output=xml:/data/local/tmp/opencv_test/$report"
+  adb pull "/data/local/tmp/opencv_test/$report" $report
+  TEST_STATUS=0
+  if [ -e $report ]; then
+    if [ `grep -c "<fail" $report` -ne 0 ]; then
+      TEST_STATUS=2
+    fi
+  else
+    TEST_STATUS=3
+  fi
+  if [ $TEST_STATUS -ne 0 ]; then
+    SUMMARY_STATUS=$TEST_STATUS
+  fi
+done
+
+if [ $SUMMARY_STATUS -eq 0 ]; then
+  echo "All OpenCV tests finished successfully"
+else
+  echo "OpenCV tests finished with status $SUMMARY_STATUS"
+fi
+
+return $SUMMARY_STATUS
\ No newline at end of file
diff --git a/cmake/templates/opencv_run_all_tests_unix.sh.in b/cmake/templates/opencv_run_all_tests_unix.sh.in
new file mode 100644
index 0000000000..77dc1191a9
--- /dev/null
+++ b/cmake/templates/opencv_run_all_tests_unix.sh.in
@@ -0,0 +1,25 @@
+#!/bin/sh
+
+OPENCV_TEST_PATH=@CMAKE_INSTALL_PREFIX@/@OPENCV_TEST_INSTALL_PATH@
+export OPENCV_TEST_DATA_PATH=@CMAKE_INSTALL_PREFIX@/share/OpenCV/testdata
+
+SUMMARY_STATUS=0
+for t in "$OPENCV_TEST_PATH/"opencv_test_* "$OPENCV_TEST_PATH/"opencv_perf_*;
+do
+  report="`basename "$t"`-`date --rfc-3339=date`.xml"
+  "$t" --perf_min_samples=1 --perf_force_samples=1 --gtest_output=xml:"$report"
+  TEST_STATUS=$?
+  if [ $TEST_STATUS -ne 0 ]; then
+    SUMMARY_STATUS=$TEST_STATUS
+  fi
+done
+
+rm -f /tmp/__opencv_temp.*
+
+if [ $SUMMARY_STATUS -eq 0 ]; then
+  echo "All OpenCV tests finished successfully"
+else
+  echo "OpenCV tests finished with status $SUMMARY_STATUS"
+fi
+
+return $SUMMARY_STATUS
\ No newline at end of file
diff --git a/cmake/templates/opencv_testing.sh.in b/cmake/templates/opencv_testing.sh.in
new file mode 100644
index 0000000000..3140136eb2
--- /dev/null
+++ b/cmake/templates/opencv_testing.sh.in
@@ -0,0 +1,2 @@
+# Environment setup for OpenCV testing
+export OPENCV_TEST_DATA_PATH=@CMAKE_INSTALL_PREFIX@/share/OpenCV/testdata
\ No newline at end of file
diff --git a/data/CMakeLists.txt b/data/CMakeLists.txt
index 48094df402..998e78520c 100644
--- a/data/CMakeLists.txt
+++ b/data/CMakeLists.txt
@@ -8,3 +8,15 @@ elseif(NOT WIN32)
   install(FILES ${HAAR_CASCADES} DESTINATION share/OpenCV/haarcascades COMPONENT libs)
   install(FILES ${LBP_CASCADES}  DESTINATION share/OpenCV/lbpcascades  COMPONENT libs)
 endif()
+
+if(INSTALL_TESTS AND OPENCV_TEST_DATA_PATH)
+  if(ANDROID)
+    install(DIRECTORY ${OPENCV_TEST_DATA_PATH} DESTINATION sdk/etc/testdata COMPONENT tests)
+  elseif(NOT WIN32)
+    # CPack does not set correct permissions by default, so we do it explicitly.
+    install(DIRECTORY ${OPENCV_TEST_DATA_PATH}
+            DIRECTORY_PERMISSIONS OWNER_WRITE OWNER_READ OWNER_EXECUTE
+              GROUP_READ GROUP_EXECUTE WORLD_READ WORLD_EXECUTE
+            DESTINATION share/OpenCV/testdata COMPONENT tests)
+  endif()
+endif()
\ No newline at end of file
diff --git a/doc/conf.py b/doc/conf.py
index 312a1c2b9e..d815924727 100755
--- a/doc/conf.py
+++ b/doc/conf.py
@@ -44,7 +44,7 @@ master_doc = 'index'
 
 # General information about the project.
 project = u'OpenCV'
-copyright = u'2011-2013, opencv dev team'
+copyright = u'2011-2014, opencv dev team'
 
 # The version info for the project you're documenting, acts as replacement for
 # |version| and |release|, also used in various other places throughout the
diff --git a/doc/tutorials/images/viz.jpg b/doc/tutorials/images/viz.jpg
new file mode 100644
index 0000000000..7ac8f3ed8d
Binary files /dev/null and b/doc/tutorials/images/viz.jpg differ
diff --git a/doc/tutorials/imgproc/histograms/template_matching/template_matching.rst b/doc/tutorials/imgproc/histograms/template_matching/template_matching.rst
index cb7ece86f1..db6838a125 100644
--- a/doc/tutorials/imgproc/histograms/template_matching/template_matching.rst
+++ b/doc/tutorials/imgproc/histograms/template_matching/template_matching.rst
@@ -85,7 +85,7 @@ d. **method=CV\_TM\_CCORR\_NORMED**
 
    .. math::
 
-      R(x,y)= \frac{\sum_{x',y'} (T(x',y') \cdot I'(x+x',y+y'))}{\sqrt{\sum_{x',y'}T(x',y')^2 \cdot \sum_{x',y'} I(x+x',y+y')^2}}
+      R(x,y)= \frac{\sum_{x',y'} (T(x',y') \cdot I(x+x',y+y'))}{\sqrt{\sum_{x',y'}T(x',y')^2 \cdot \sum_{x',y'} I(x+x',y+y')^2}}
 
 
 e. **method=CV\_TM\_CCOEFF**
diff --git a/doc/tutorials/introduction/android_binary_package/dev_with_OCV_on_Android.rst b/doc/tutorials/introduction/android_binary_package/dev_with_OCV_on_Android.rst
index 3d7268c809..bc9ff7a4a8 100644
--- a/doc/tutorials/introduction/android_binary_package/dev_with_OCV_on_Android.rst
+++ b/doc/tutorials/introduction/android_binary_package/dev_with_OCV_on_Android.rst
@@ -382,7 +382,7 @@ result.
            OpenCVLoader.initAsync(OpenCVLoader.OPENCV_VERSION_2_4_6, this, mLoaderCallback);
        }
 
-#. Defines that your activity implements ``CvViewFrameListener2`` interface and fix activity related
+#. Defines that your activity implements ``CvCameraViewListener2`` interface and fix activity related
    errors by defining missed methods. For this activity define ``onCreate``, ``onDestroy`` and
    ``onPause`` and implement them according code snippet bellow. Fix errors by adding requited
    imports.
@@ -432,7 +432,7 @@ result.
 Lets discuss some most important steps. Every Android application with UI must implement Activity
 and View. By the first steps we create blank activity and default view layout. The simplest
 OpenCV-centric application must implement OpenCV initialization, create its own view to show
-preview from camera and implements ``CvViewFrameListener2`` interface to get frames from camera and
+preview from camera and implements ``CvCameraViewListener2`` interface to get frames from camera and
 process it.
 
 First of all we create our application view using xml layout. Our layout consists of the only
diff --git a/doc/tutorials/introduction/linux_gcc_cmake/linux_gcc_cmake.rst b/doc/tutorials/introduction/linux_gcc_cmake/linux_gcc_cmake.rst
index f582d32086..9aa1f6289b 100644
--- a/doc/tutorials/introduction/linux_gcc_cmake/linux_gcc_cmake.rst
+++ b/doc/tutorials/introduction/linux_gcc_cmake/linux_gcc_cmake.rst
@@ -25,29 +25,34 @@ Let's use a simple program such as DisplayImage.cpp shown below.
 
 .. code-block:: cpp
 
-   #include <stdio.h>
-   #include <opencv2/opencv.hpp>
-
-   using namespace cv;
-
-   int main( int argc, char** argv )
-   {
-     Mat image;
-     image = imread( argv[1], 1 );
-
-     if( argc != 2 || !image.data )
-       {
-         printf( "No image data \n" );
-         return -1;
-       }
-
-     namedWindow( "Display Image", CV_WINDOW_AUTOSIZE );
-     imshow( "Display Image", image );
-
-     waitKey(0);
-
-     return 0;
-   }
+  #include <stdio.h>
+  #include <opencv2/opencv.hpp>
+
+  using namespace cv;
+
+  int main(int argc, char** argv )
+  {
+      if ( argc != 2 )
+      {
+          printf("usage: DisplayImage.out <Image_Path>\n");
+          return -1;
+      }
+
+      Mat image;
+      image = imread( argv[1], 1 );
+
+      if ( !image.data )
+      {
+          printf("No image data \n");
+          return -1;
+      }
+      namedWindow("Display Image", CV_WINDOW_AUTOSIZE );
+      imshow("Display Image", image);
+
+      waitKey(0);
+
+      return 0;
+  }
 
 Create a CMake file
 ---------------------
diff --git a/doc/tutorials/introduction/load_save_image/load_save_image.rst b/doc/tutorials/introduction/load_save_image/load_save_image.rst
index 50fb9ea37f..675387efb1 100644
--- a/doc/tutorials/introduction/load_save_image/load_save_image.rst
+++ b/doc/tutorials/introduction/load_save_image/load_save_image.rst
@@ -100,7 +100,7 @@ Explanation
       imshow( imageName, image );
       imshow( "Gray image", gray_image );
 
-#. Add add the *waitKey(0)* function call for the program to wait forever for an user key press.
+#. Add the *waitKey(0)* function call for the program to wait forever for an user key press.
 
 
 Result
diff --git a/doc/tutorials/tutorials.rst b/doc/tutorials/tutorials.rst
index cbc51c1956..54cc91acb8 100644
--- a/doc/tutorials/tutorials.rst
+++ b/doc/tutorials/tutorials.rst
@@ -186,6 +186,21 @@ As always, we would be happy to hear your comments and receive your contribution
                     :width:  80pt
                     :alt: gpu icon
 
+*  :ref:`Table-Of-Content-Viz`
+
+   .. tabularcolumns:: m{100pt} m{300pt}
+   .. cssclass:: toctableopencv
+
+   =========== =======================================================
+      |Viz|     These tutorials show how to use Viz module effectively.
+
+   =========== =======================================================
+
+     .. |Viz| image:: images/viz.jpg
+                   :height: 80pt
+                   :width:  80pt
+                   :alt: viz icon
+
 *  :ref:`Table-Of-Content-General`
 
       .. tabularcolumns:: m{100pt} m{300pt}
@@ -221,4 +236,5 @@ As always, we would be happy to hear your comments and receive your contribution
    gpu/table_of_content_gpu/table_of_content_gpu
    contrib/table_of_content_contrib/table_of_content_contrib
    ios/table_of_content_ios/table_of_content_ios
+   viz/table_of_content_viz/table_of_content_viz
    general/table_of_content_general/table_of_content_general
diff --git a/doc/tutorials/viz/creating_widgets/creating_widgets.rst b/doc/tutorials/viz/creating_widgets/creating_widgets.rst
new file mode 100644
index 0000000000..8858035c34
--- /dev/null
+++ b/doc/tutorials/viz/creating_widgets/creating_widgets.rst
@@ -0,0 +1,159 @@
+.. _creating_widgets:
+
+Creating Widgets
+****************
+
+Goal
+====
+
+In this tutorial you will learn how to
+
+.. container:: enumeratevisibleitemswithsquare
+
+  * Create your own widgets using WidgetAccessor and VTK.
+  * Show your widget in the visualization window.
+
+Code
+====
+
+You can download the code from :download:`here <../../../../samples/cpp/tutorial_code/viz/creating_widgets.cpp>`.
+
+.. code-block:: cpp
+
+    #include <opencv2/viz/vizcore.hpp>
+    #include <opencv2/viz/widget_accessor.hpp>
+    #include <iostream>
+
+    #include <vtkPoints.h>
+    #include <vtkTriangle.h>
+    #include <vtkCellArray.h>
+    #include <vtkPolyData.h>
+    #include <vtkPolyDataMapper.h>
+    #include <vtkIdList.h>
+    #include <vtkActor.h>
+    #include <vtkProp.h>
+
+    using namespace cv;
+    using namespace std;
+
+    /**
+     * @class WTriangle
+     * @brief Defining our own 3D Triangle widget
+     */
+    class WTriangle : public viz::Widget3D
+    {
+        public:
+            WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color = viz::Color::white());
+    };
+
+    /**
+     * @function WTriangle::WTriangle
+     */
+    WTriangle::WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color)
+    {
+        // Create a triangle
+        vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
+        points->InsertNextPoint(pt1.x, pt1.y, pt1.z);
+        points->InsertNextPoint(pt2.x, pt2.y, pt2.z);
+        points->InsertNextPoint(pt3.x, pt3.y, pt3.z);
+
+        vtkSmartPointer<vtkTriangle> triangle = vtkSmartPointer<vtkTriangle>::New();
+        triangle->GetPointIds()->SetId(0,0);
+        triangle->GetPointIds()->SetId(1,1);
+        triangle->GetPointIds()->SetId(2,2);
+
+        vtkSmartPointer<vtkCellArray> cells = vtkSmartPointer<vtkCellArray>::New();
+        cells->InsertNextCell(triangle);
+
+        // Create a polydata object
+        vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New();
+
+        // Add the geometry and topology to the polydata
+        polyData->SetPoints(points);
+        polyData->SetPolys(cells);
+
+        // Create mapper and actor
+        vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
+    #if VTK_MAJOR_VERSION <= 5
+        mapper->SetInput(polyData);
+    #else
+        mapper->SetInputData(polyData);
+    #endif
+
+        vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
+        actor->SetMapper(mapper);
+
+        // Store this actor in the widget in order that visualizer can access it
+        viz::WidgetAccessor::setProp(*this, actor);
+
+        // Set the color of the widget. This has to be called after WidgetAccessor.
+        setColor(color);
+    }
+
+    /**
+     * @function main
+     */
+    int main()
+    {
+        /// Create a window
+        viz::Viz3d myWindow("Creating Widgets");
+
+        /// Create a triangle widget
+        WTriangle tw(Point3f(0.0,0.0,0.0), Point3f(1.0,1.0,1.0), Point3f(0.0,1.0,0.0), viz::Color::red());
+
+        /// Show widget in the visualizer window
+        myWindow.showWidget("TRIANGLE", tw);
+
+        /// Start event loop
+        myWindow.spin();
+
+        return 0;
+    }
+
+Explanation
+===========
+
+Here is the general structure of the program:
+
+* Extend Widget3D class to create a new 3D widget.
+
+.. code-block:: cpp
+
+    class WTriangle : public viz::Widget3D
+    {
+        public:
+            WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color = viz::Color::white());
+    };
+
+* Assign a VTK actor to the widget.
+
+.. code-block:: cpp
+
+    // Store this actor in the widget in order that visualizer can access it
+    viz::WidgetAccessor::setProp(*this, actor);
+
+* Set color of the widget.
+
+.. code-block:: cpp
+
+    // Set the color of the widget. This has to be called after WidgetAccessor.
+    setColor(color);
+
+* Construct a triangle widget and display it in the window.
+
+.. code-block:: cpp
+
+    /// Create a triangle widget
+    WTriangle tw(Point3f(0.0,0.0,0.0), Point3f(1.0,1.0,1.0), Point3f(0.0,1.0,0.0), viz::Color::red());
+
+    /// Show widget in the visualizer window
+    myWindow.showWidget("TRIANGLE", tw);
+
+Results
+=======
+
+Here is the result of the program.
+
+.. image:: images/red_triangle.png
+    :alt: Creating Widgets
+    :align: center
diff --git a/doc/tutorials/viz/creating_widgets/images/red_triangle.png b/doc/tutorials/viz/creating_widgets/images/red_triangle.png
new file mode 100644
index 0000000000..7da6ad0602
Binary files /dev/null and b/doc/tutorials/viz/creating_widgets/images/red_triangle.png differ
diff --git a/doc/tutorials/viz/launching_viz/images/window_demo.png b/doc/tutorials/viz/launching_viz/images/window_demo.png
new file mode 100644
index 0000000000..b853fe29da
Binary files /dev/null and b/doc/tutorials/viz/launching_viz/images/window_demo.png differ
diff --git a/doc/tutorials/viz/launching_viz/launching_viz.rst b/doc/tutorials/viz/launching_viz/launching_viz.rst
new file mode 100644
index 0000000000..a3dd5d93c6
--- /dev/null
+++ b/doc/tutorials/viz/launching_viz/launching_viz.rst
@@ -0,0 +1,118 @@
+.. _launching_viz:
+
+Launching Viz
+*************
+
+Goal
+====
+
+In this tutorial you will learn how to
+
+.. container:: enumeratevisibleitemswithsquare
+
+  * Open a visualization window.
+  * Access a window by its name.
+  * Start event loop.
+  * Start event loop for a given amount of time.
+
+Code
+====
+
+You can download the code from :download:`here <../../../../samples/cpp/tutorial_code/viz/launching_viz.cpp>`.
+
+.. code-block:: cpp
+
+    #include <opencv2/viz/vizcore.hpp>
+    #include <iostream>
+
+    using namespace cv;
+    using namespace std;
+
+    /**
+    * @function main
+    */
+    int main()
+    {
+        /// Create a window
+        viz::Viz3d myWindow("Viz Demo");
+
+        /// Start event loop
+        myWindow.spin();
+
+        /// Event loop is over when pressed q, Q, e, E
+        cout << "First event loop is over" << endl;
+
+        /// Access window via its name
+        viz::Viz3d sameWindow = viz::getWindowByName("Viz Demo");
+
+        /// Start event loop
+        sameWindow.spin();
+
+        /// Event loop is over when pressed q, Q, e, E
+        cout << "Second event loop is over" << endl;
+
+        /// Event loop is over when pressed q, Q, e, E
+        /// Start event loop once for 1 millisecond
+        sameWindow.spinOnce(1, true);
+        while(!sameWindow.wasStopped())
+        {
+            /// Interact with window
+
+            /// Event loop for 1 millisecond
+            sameWindow.spinOnce(1, true);
+        }
+
+        /// Once more event loop is stopped
+        cout << "Last event loop is over" << endl;
+        return 0;
+    }
+
+Explanation
+===========
+
+Here is the general structure of the program:
+
+* Create a window.
+
+.. code-block:: cpp
+
+    /// Create a window
+    viz::Viz3d myWindow("Viz Demo");
+
+* Start event loop. This event loop will run until user terminates it by pressing **e**, **E**, **q**, **Q**.
+
+.. code-block:: cpp
+
+    /// Start event loop
+    myWindow.spin();
+
+* Access same window via its name. Since windows are implicitly shared, **sameWindow** is exactly the same with **myWindow**. If the name does not exist, a new window is created.
+
+.. code-block:: cpp
+
+    /// Access window via its name
+    viz::Viz3d sameWindow = viz::get("Viz Demo");
+
+* Start a controlled event loop. Once it starts, **wasStopped** is set to false. Inside the while loop, in each iteration, **spinOnce** is called to prevent event loop from completely stopping. Inside the while loop, user can execute other statements including those which interact with the window.
+
+.. code-block:: cpp
+
+    /// Event loop is over when pressed q, Q, e, E
+    /// Start event loop once for 1 millisecond
+    sameWindow.spinOnce(1, true);
+    while(!sameWindow.wasStopped())
+    {
+        /// Interact with window
+
+        /// Event loop for 1 millisecond
+        sameWindow.spinOnce(1, true);
+    }
+
+Results
+=======
+
+Here is the result of the program.
+
+.. image:: images/window_demo.png
+    :alt: Launching Viz
+    :align: center
diff --git a/doc/tutorials/viz/table_of_content_viz/images/facedetect.jpg b/doc/tutorials/viz/table_of_content_viz/images/facedetect.jpg
new file mode 100644
index 0000000000..788b7d8262
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diff --git a/doc/tutorials/viz/table_of_content_viz/images/image_effects.png b/doc/tutorials/viz/table_of_content_viz/images/image_effects.png
new file mode 100644
index 0000000000..1a675ce74f
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diff --git a/doc/tutorials/viz/table_of_content_viz/images/intro.png b/doc/tutorials/viz/table_of_content_viz/images/intro.png
new file mode 100644
index 0000000000..4f54cfb916
Binary files /dev/null and b/doc/tutorials/viz/table_of_content_viz/images/intro.png differ
diff --git a/doc/tutorials/viz/table_of_content_viz/table_of_content_viz.rst b/doc/tutorials/viz/table_of_content_viz/table_of_content_viz.rst
new file mode 100644
index 0000000000..c3d08fe17b
--- /dev/null
+++ b/doc/tutorials/viz/table_of_content_viz/table_of_content_viz.rst
@@ -0,0 +1,94 @@
+.. _Table-Of-Content-Viz:
+
+**OpenCV Viz**
+-----------------------------------------------------------
+
+.. include:: ../../definitions/tocDefinitions.rst
+
++
+  .. tabularcolumns:: m{100pt} m{300pt}
+  .. cssclass:: toctableopencv
+
+  ================== ===============================================================================
+   |VizLaunchingViz|   **Title:** :ref:`launching_viz`
+
+                       *Compatibility:* > OpenCV 3.0.0
+
+                       *Author:* Ozan Tonkal
+
+                       You will learn how to launch a viz window.
+
+  ================== ===============================================================================
+
+  .. |VizLaunchingViz| image:: ../launching_viz/images/window_demo.png
+                         :height: 120pt
+                         :width:  90pt
+
++
+  .. tabularcolumns:: m{100pt} m{300pt}
+  .. cssclass:: toctableopencv
+
+  ================ ============================================================================
+    |WidgetPose|    **Title:** :ref:`widget_pose`
+
+                    *Compatibility:* > OpenCV 3.0.0
+
+                    *Author:* Ozan Tonkal
+
+                    You will learn how to change pose of a widget.
+
+  ================ ============================================================================
+
+  .. |WidgetPose|  image:: ../widget_pose/images/widgetpose.png
+                        :height: 90pt
+                        :width:  90pt
+
++
+  .. tabularcolumns:: m{100pt} m{300pt}
+  .. cssclass:: toctableopencv
+
+  ==================  ============================================================================
+   |Transformations|   **Title:** :ref:`transformations`
+
+                       *Compatibility:* > OpenCV 3.0.0
+
+                       *Author:* Ozan Tonkal
+
+                       You will learn how to transform between global and camera frames.
+
+  ==================  ============================================================================
+
+  .. |Transformations| image:: ../transformations/images/global_view_point.png
+                           :height: 120pt
+                           :width:  90pt
+
++
+  .. tabularcolumns:: m{100pt} m{300pt}
+  .. cssclass:: toctableopencv
+
+  ==================  ============================================================================
+   |CreatingWidgets|   **Title:** :ref:`creating_widgets`
+
+                       *Compatibility:* > OpenCV 3.0.0
+
+                       *Author:* Ozan Tonkal
+
+                       You will learn how to create your own widgets.
+
+  ==================  ============================================================================
+
+  .. |CreatingWidgets| image:: ../creating_widgets/images/red_triangle.png
+                            :height: 120pt
+                            :width:  90pt
+
+.. raw:: latex
+
+   \pagebreak
+
+.. toctree::
+   :hidden:
+
+   ../launching_viz/launching_viz
+   ../widget_pose/widget_pose
+   ../transformations/transformations
+   ../creating_widgets/creating_widgets
diff --git a/doc/tutorials/viz/transformations/images/camera_view_point.png b/doc/tutorials/viz/transformations/images/camera_view_point.png
new file mode 100644
index 0000000000..e2ac5b0f0d
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diff --git a/doc/tutorials/viz/transformations/images/global_view_point.png b/doc/tutorials/viz/transformations/images/global_view_point.png
new file mode 100644
index 0000000000..fc6de2c1a1
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diff --git a/doc/tutorials/viz/transformations/transformations.rst b/doc/tutorials/viz/transformations/transformations.rst
new file mode 100644
index 0000000000..d1f2d0c2e0
--- /dev/null
+++ b/doc/tutorials/viz/transformations/transformations.rst
@@ -0,0 +1,202 @@
+.. _transformations:
+
+Transformations
+***************
+
+Goal
+====
+
+In this tutorial you will learn how to
+
+.. container:: enumeratevisibleitemswithsquare
+
+  * How to use makeTransformToGlobal to compute pose
+  * How to use makeCameraPose and Viz3d::setViewerPose
+  * How to visualize camera position by axes and by viewing frustum
+
+Code
+====
+
+You can download the code from :download:`here <../../../../samples/cpp/tutorial_code/viz/transformations.cpp>`.
+
+.. code-block:: cpp
+
+    #include <opencv2/viz/vizcore.hpp>
+    #include <iostream>
+    #include <fstream>
+
+    using namespace cv;
+    using namespace std;
+
+    /**
+     * @function cvcloud_load
+     * @brief load bunny.ply
+     */
+    Mat cvcloud_load()
+    {
+        Mat cloud(1, 1889, CV_32FC3);
+        ifstream ifs("bunny.ply");
+
+        string str;
+        for(size_t i = 0; i < 12; ++i)
+            getline(ifs, str);
+
+        Point3f* data = cloud.ptr<cv::Point3f>();
+        float dummy1, dummy2;
+        for(size_t i = 0; i < 1889; ++i)
+            ifs >> data[i].x >> data[i].y >> data[i].z >> dummy1 >> dummy2;
+
+        cloud *= 5.0f;
+        return cloud;
+    }
+
+    /**
+     * @function main
+     */
+    int main(int argn, char **argv)
+    {
+        if (argn < 2)
+        {
+            cout << "Usage: " << endl << "./transformations [ G | C ]" << endl;
+            return 1;
+        }
+
+        bool camera_pov = (argv[1][0] == 'C');
+
+        /// Create a window
+        viz::Viz3d myWindow("Coordinate Frame");
+
+        /// Add coordinate axes
+        myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
+
+        /// Let's assume camera has the following properties
+        Point3f cam_pos(3.0f,3.0f,3.0f), cam_focal_point(3.0f,3.0f,2.0f), cam_y_dir(-1.0f,0.0f,0.0f);
+
+        /// We can get the pose of the cam using makeCameraPose
+        Affine3f cam_pose = viz::makeCameraPose(cam_pos, cam_focal_point, cam_y_dir);
+
+        /// We can get the transformation matrix from camera coordinate system to global using
+        /// - makeTransformToGlobal. We need the axes of the camera
+        Affine3f transform = viz::makeTransformToGlobal(Vec3f(0.0f,-1.0f,0.0f), Vec3f(-1.0f,0.0f,0.0f), Vec3f(0.0f,0.0f,-1.0f), cam_pos);
+
+        /// Create a cloud widget.
+        Mat bunny_cloud = cvcloud_load();
+        viz::WCloud cloud_widget(bunny_cloud, viz::Color::green());
+
+        /// Pose of the widget in camera frame
+        Affine3f cloud_pose = Affine3f().translate(Vec3f(0.0f,0.0f,3.0f));
+        /// Pose of the widget in global frame
+        Affine3f cloud_pose_global = transform * cloud_pose;
+
+        /// Visualize camera frame
+        if (!camera_pov)
+        {
+            viz::WCameraPosition cpw(0.5); // Coordinate axes
+            viz::WCameraPosition cpw_frustum(Vec2f(0.889484, 0.523599)); // Camera frustum
+            myWindow.showWidget("CPW", cpw, cam_pose);
+            myWindow.showWidget("CPW_FRUSTUM", cpw_frustum, cam_pose);
+        }
+
+        /// Visualize widget
+        myWindow.showWidget("bunny", cloud_widget, cloud_pose_global);
+
+        /// Set the viewer pose to that of camera
+        if (camera_pov)
+            myWindow.setViewerPose(cam_pose);
+
+        /// Start event loop.
+        myWindow.spin();
+
+        return 0;
+    }
+
+
+Explanation
+===========
+
+Here is the general structure of the program:
+
+* Create a visualization window.
+
+.. code-block:: cpp
+
+    /// Create a window
+    viz::Viz3d myWindow("Transformations");
+
+* Get camera pose from camera position, camera focal point and y direction.
+
+.. code-block:: cpp
+
+    /// Let's assume camera has the following properties
+    Point3f cam_pos(3.0f,3.0f,3.0f), cam_focal_point(3.0f,3.0f,2.0f), cam_y_dir(-1.0f,0.0f,0.0f);
+
+    /// We can get the pose of the cam using makeCameraPose
+    Affine3f cam_pose = viz::makeCameraPose(cam_pos, cam_focal_point, cam_y_dir);
+
+* Obtain transform matrix knowing the axes of camera coordinate system.
+
+.. code-block:: cpp
+
+    /// We can get the transformation matrix from camera coordinate system to global using
+    /// - makeTransformToGlobal. We need the axes of the camera
+    Affine3f transform = viz::makeTransformToGlobal(Vec3f(0.0f,-1.0f,0.0f), Vec3f(-1.0f,0.0f,0.0f), Vec3f(0.0f,0.0f,-1.0f), cam_pos);
+
+* Create a cloud widget from bunny.ply file
+
+.. code-block:: cpp
+
+    /// Create a cloud widget.
+    Mat bunny_cloud = cvcloud_load();
+    viz::WCloud cloud_widget(bunny_cloud, viz::Color::green());
+
+* Given the pose in camera coordinate system, estimate the global pose.
+
+.. code-block:: cpp
+
+    /// Pose of the widget in camera frame
+    Affine3f cloud_pose = Affine3f().translate(Vec3f(0.0f,0.0f,3.0f));
+    /// Pose of the widget in global frame
+    Affine3f cloud_pose_global = transform * cloud_pose;
+
+* If the view point is set to be global, visualize camera coordinate frame and viewing frustum.
+
+.. code-block:: cpp
+
+    /// Visualize camera frame
+    if (!camera_pov)
+    {
+        viz::WCameraPosition cpw(0.5); // Coordinate axes
+        viz::WCameraPosition cpw_frustum(Vec2f(0.889484, 0.523599)); // Camera frustum
+        myWindow.showWidget("CPW", cpw, cam_pose);
+        myWindow.showWidget("CPW_FRUSTUM", cpw_frustum, cam_pose);
+    }
+
+* Visualize the cloud widget with the estimated global pose
+
+.. code-block:: cpp
+
+    /// Visualize widget
+    myWindow.showWidget("bunny", cloud_widget, cloud_pose_global);
+
+* If the view point is set to be camera's, set viewer pose to **cam_pose**.
+
+.. code-block:: cpp
+
+    /// Set the viewer pose to that of camera
+    if (camera_pov)
+        myWindow.setViewerPose(cam_pose);
+
+Results
+=======
+
+#. Here is the result from the camera point of view.
+
+    .. image:: images/camera_view_point.png
+        :alt: Camera Viewpoint
+        :align: center
+
+#. Here is the result from global point of view.
+
+    .. image:: images/global_view_point.png
+        :alt: Global Viewpoint
+        :align: center
diff --git a/doc/tutorials/viz/widget_pose/images/widgetpose.png b/doc/tutorials/viz/widget_pose/images/widgetpose.png
new file mode 100644
index 0000000000..ef8a5937f9
Binary files /dev/null and b/doc/tutorials/viz/widget_pose/images/widgetpose.png differ
diff --git a/doc/tutorials/viz/widget_pose/widget_pose.rst b/doc/tutorials/viz/widget_pose/widget_pose.rst
new file mode 100644
index 0000000000..a4466bdedf
--- /dev/null
+++ b/doc/tutorials/viz/widget_pose/widget_pose.rst
@@ -0,0 +1,162 @@
+.. _widget_pose:
+
+Pose of a widget
+****************
+
+Goal
+====
+
+In this tutorial you will learn how to
+
+.. container:: enumeratevisibleitemswithsquare
+
+  * Add widgets to the visualization window
+  * Use Affine3 to set pose of a widget
+  * Rotating and translating a widget along an axis
+
+Code
+====
+
+You can download the code from :download:`here <../../../../samples/cpp/tutorial_code/viz/widget_pose.cpp>`.
+
+.. code-block:: cpp
+
+    #include <opencv2/viz/vizcore.hpp>
+    #include <opencv2/calib3d/calib3d.hpp>
+    #include <iostream>
+
+    using namespace cv;
+    using namespace std;
+
+    /**
+     * @function main
+     */
+    int main()
+    {
+        /// 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);
+
+            Mat rot_mat;
+            Rodrigues(rot_vec, rot_mat);
+
+            /// Construct pose
+            Affine3f pose(rot_mat, Vec3f(translation, translation, translation));
+
+            myWindow.setWidgetPose("Cube Widget", pose);
+
+            myWindow.spinOnce(1, true);
+        }
+
+        return 0;
+    }
+
+Explanation
+===========
+
+Here is the general structure of the program:
+
+* Create a visualization window.
+
+.. code-block:: cpp
+
+    /// Create a window
+    viz::Viz3d myWindow("Coordinate Frame");
+
+* Show coordinate axes in the window using CoordinateSystemWidget.
+
+.. code-block:: cpp
+
+    /// Add coordinate axes
+    myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
+
+* Display a line representing the axis (1,1,1).
+
+.. code-block:: cpp
+
+    /// 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.
+
+.. code-block:: cpp
+
+    /// 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);
+    myWindow.showWidget("Cube Widget", cube_widget);
+
+* Create rotation matrix from rodrigues vector
+
+.. code-block:: cpp
+
+    /// 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;
+
+    ...
+
+    Mat rot_mat;
+    Rodrigues(rot_vec, rot_mat);
+
+* Use Affine3f to set pose of the cube.
+
+.. code-block:: cpp
+
+    /// Construct pose
+    Affine3f pose(rot_mat, Vec3f(translation, translation, translation));
+    myWindow.setWidgetPose("Cube Widget", pose);
+
+* Animate the rotation using wasStopped and spinOnce
+
+.. code-block:: cpp
+
+    while(!myWindow.wasStopped())
+    {
+        ...
+
+        myWindow.spinOnce(1, true);
+    }
+
+Results
+=======
+
+Here is the result of the program.
+
+.. raw:: html
+
+  <div align="center">
+  <iframe width="420" height="315" src="https://www.youtube.com/embed/22HKMN657U0" frameborder="0" allowfullscreen></iframe>
+  </div>
diff --git a/modules/contrib/src/rgbdodometry.cpp b/modules/contrib/src/rgbdodometry.cpp
index 4e9d8c4df9..0b2b9518c4 100644
--- a/modules/contrib/src/rgbdodometry.cpp
+++ b/modules/contrib/src/rgbdodometry.cpp
@@ -115,7 +115,7 @@ void computeProjectiveMatrix( const Mat& ksi, Mat& Rt )
 {
     CV_Assert( ksi.size() == Size(1,6) && ksi.type() == CV_64FC1 );
 
-#if defined(HAVE_EIGEN) && EIGEN_WORLD_VERSION == 3
+#if defined(HAVE_EIGEN) && EIGEN_WORLD_VERSION == 3 && (!defined _MSC_VER || !defined _M_X64 || _MSC_VER > 1500)
     const double* ksi_ptr = reinterpret_cast<const double*>(ksi.ptr(0));
     Eigen::Matrix<double,4,4> twist, g;
     twist << 0.,          -ksi_ptr[2], ksi_ptr[1],  ksi_ptr[3],
diff --git a/modules/core/CMakeLists.txt b/modules/core/CMakeLists.txt
index fe3eff33ab..d9de52da2f 100644
--- a/modules/core/CMakeLists.txt
+++ b/modules/core/CMakeLists.txt
@@ -25,7 +25,7 @@ endif()
 
 if(HAVE_CUDA)
   ocv_include_directories("${OpenCV_SOURCE_DIR}/modules/gpu/include")
-  ocv_warnings_disable(CMAKE_CXX_FLAGS -Wundef)
+  ocv_warnings_disable(CMAKE_CXX_FLAGS -Wundef -Wshadow)
 endif()
 
 file(GLOB lib_cuda_hdrs        "include/opencv2/${name}/cuda/*.hpp"        "include/opencv2/${name}/cuda/*.h")
diff --git a/modules/core/doc/basic_structures.rst b/modules/core/doc/basic_structures.rst
index 6f9c10e1db..54a1f4261d 100644
--- a/modules/core/doc/basic_structures.rst
+++ b/modules/core/doc/basic_structures.rst
@@ -1355,7 +1355,7 @@ The method copies the matrix data to another matrix. Before copying the data, th
 
 so that the destination matrix is reallocated if needed. While ``m.copyTo(m);`` works flawlessly, the function does not handle the case of a partial overlap between the source and the destination matrices.
 
-When the operation mask is specified, and the ``Mat::create`` call shown above reallocated the matrix, the newly allocated matrix is initialized with all zeros before copying the data.
+When the operation mask is specified, if the ``Mat::create`` call shown above reallocates the matrix, the newly allocated matrix is initialized with all zeros before copying the data.
 
 .. _Mat::convertTo:
 
diff --git a/modules/core/include/opencv2/core/affine.hpp b/modules/core/include/opencv2/core/affine.hpp
new file mode 100644
index 0000000000..827d044b87
--- /dev/null
+++ b/modules/core/include/opencv2/core/affine.hpp
@@ -0,0 +1,509 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_CORE_AFFINE3_HPP__
+#define __OPENCV_CORE_AFFINE3_HPP__
+
+#ifdef __cplusplus
+
+#include <opencv2/core/core.hpp>
+
+namespace cv
+{
+    template<typename T>
+    class Affine3
+    {
+    public:
+        typedef T float_type;
+        typedef Matx<float_type, 3, 3> Mat3;
+        typedef Matx<float_type, 4, 4> Mat4;
+        typedef Vec<float_type, 3> Vec3;
+
+        Affine3();
+
+        //Augmented affine matrix
+        Affine3(const Mat4& affine);
+
+        //Rotation matrix
+        Affine3(const Mat3& R, const Vec3& t = Vec3::all(0));
+
+        //Rodrigues vector
+        Affine3(const Vec3& rvec, const Vec3& t = Vec3::all(0));
+
+        //Combines all contructors above. Supports 4x4, 4x3, 3x3, 1x3, 3x1 sizes of data matrix
+        explicit Affine3(const Mat& data, const Vec3& t = Vec3::all(0));
+
+        //From 16th element array
+        explicit Affine3(const float_type* vals);
+
+        static Affine3 Identity();
+
+        //Rotation matrix
+        void rotation(const Mat3& R);
+
+        //Rodrigues vector
+        void rotation(const Vec3& rvec);
+
+        //Combines rotation methods above. Suports 3x3, 1x3, 3x1 sizes of data matrix;
+        void rotation(const Mat& data);
+
+        void linear(const Mat3& L);
+        void translation(const Vec3& t);
+
+        Mat3 rotation() const;
+        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;
+        Affine3 rotate(const Mat3& R) const;
+
+        // a.rotate(R) is equivalent to Affine(rvec, 0) * a;
+        Affine3 rotate(const Vec3& rvec) const;
+
+        // a.translate(t) is equivalent to Affine(E, t) * a;
+        Affine3 translate(const Vec3& t) const;
+
+        // a.concatenate(affine) is equivalent to affine * a;
+        Affine3 concatenate(const Affine3& affine) const;
+
+        template <typename Y> operator Affine3<Y>() const;
+
+        template <typename Y> Affine3<Y> cast() const;
+
+        Mat4 matrix;
+
+#if defined EIGEN_WORLD_VERSION && defined EIGEN_GEOMETRY_MODULE_H
+        Affine3(const Eigen::Transform<T, 3, Eigen::Affine, (Eigen::RowMajor)>& affine);
+        Affine3(const Eigen::Transform<T, 3, Eigen::Affine>& affine);
+        operator Eigen::Transform<T, 3, Eigen::Affine, (Eigen::RowMajor)>() const;
+        operator Eigen::Transform<T, 3, Eigen::Affine>() const;
+#endif
+    };
+
+    template<typename T> static
+    Affine3<T> operator*(const Affine3<T>& affine1, const Affine3<T>& affine2);
+
+    template<typename T, typename V> static
+    V operator*(const Affine3<T>& affine, const V& vector);
+
+    typedef Affine3<float> Affine3f;
+    typedef Affine3<double> Affine3d;
+
+    static Vec3f operator*(const Affine3f& affine, const Vec3f& vector);
+    static Vec3d operator*(const Affine3d& affine, const Vec3d& vector);
+
+    template<typename _Tp> class DataType< Affine3<_Tp> >
+    {
+    public:
+        typedef Affine3<_Tp>                               value_type;
+        typedef Affine3<typename DataType<_Tp>::work_type> work_type;
+        typedef _Tp                                        channel_type;
+
+        enum { generic_type = 0,
+               depth        = DataType<channel_type>::depth,
+               channels     = 16,
+               fmt          = DataType<channel_type>::fmt + ((channels - 1) << 8),
+               type         = CV_MAKETYPE(depth, channels)
+             };
+
+        typedef Vec<channel_type, channels> vec_type;
+    };
+}
+
+
+///////////////////////////////////////////////////////////////////////////////////
+/// Implementaiton
+
+template<typename T> inline
+cv::Affine3<T>::Affine3()
+    : matrix(Mat4::eye())
+{}
+
+template<typename T> inline
+cv::Affine3<T>::Affine3(const Mat4& affine)
+    : matrix(affine)
+{}
+
+template<typename T> inline
+cv::Affine3<T>::Affine3(const Mat3& R, const Vec3& t)
+{
+    rotation(R);
+    translation(t);
+    matrix.val[12] = matrix.val[13] = matrix.val[14] = 0;
+    matrix.val[15] = 1;
+}
+
+template<typename T> inline
+cv::Affine3<T>::Affine3(const Vec3& _rvec, const Vec3& t)
+{
+    rotation(_rvec);
+    translation(t);
+    matrix.val[12] = matrix.val[13] = matrix.val[14] = 0;
+    matrix.val[15] = 1;
+}
+
+template<typename T> inline
+cv::Affine3<T>::Affine3(const cv::Mat& data, const Vec3& t)
+{
+    CV_Assert(data.type() == cv::DataType<T>::type);
+
+    if (data.cols == 4 && data.rows == 4)
+    {
+        data.copyTo(matrix);
+        return;
+    }
+    else if (data.cols == 4 && data.rows == 3)
+    {
+        rotation(data(Rect(0, 0, 3, 3)));
+        translation(data(Rect(3, 0, 1, 3)));
+        return;
+    }
+
+    rotation(data);
+    translation(t);
+    matrix.val[12] = matrix.val[13] = matrix.val[14] = 0;
+    matrix.val[15] = 1;
+}
+
+template<typename T> inline
+cv::Affine3<T>::Affine3(const float_type* vals) : matrix(vals)
+{}
+
+template<typename T> inline
+cv::Affine3<T> cv::Affine3<T>::Identity()
+{
+    return Affine3<T>(cv::Affine3<T>::Mat4::eye());
+}
+
+template<typename T> inline
+void cv::Affine3<T>::rotation(const Mat3& R)
+{
+    linear(R);
+}
+
+template<typename T> inline
+void cv::Affine3<T>::rotation(const Vec3& _rvec)
+{
+    double rx = _rvec[0], ry = _rvec[1], rz = _rvec[2];
+    double theta = std::sqrt(rx*rx + ry*ry + rz*rz);
+
+    if (theta < DBL_EPSILON)
+        rotation(Mat3::eye());
+    else
+    {
+        const double I[] = { 1, 0, 0, 0, 1, 0, 0, 0, 1 };
+
+        double c = std::cos(theta);
+        double s = std::sin(theta);
+        double c1 = 1. - c;
+        double itheta = theta ? 1./theta : 0.;
+
+        rx *= itheta; ry *= itheta; rz *= itheta;
+
+        double rrt[] = { rx*rx, rx*ry, rx*rz, rx*ry, ry*ry, ry*rz, rx*rz, ry*rz, rz*rz };
+        double _r_x_[] = { 0, -rz, ry, rz, 0, -rx, -ry, rx, 0 };
+        Mat3 R;
+
+        // R = cos(theta)*I + (1 - cos(theta))*r*rT + sin(theta)*[r_x]
+        // where [r_x] is [0 -rz ry; rz 0 -rx; -ry rx 0]
+        for(int k = 0; k < 9; ++k)
+            R.val[k] = static_cast<float_type>(c*I[k] + c1*rrt[k] + s*_r_x_[k]);
+
+        rotation(R);
+    }
+}
+
+//Combines rotation methods above. Suports 3x3, 1x3, 3x1 sizes of data matrix;
+template<typename T> inline
+void cv::Affine3<T>::rotation(const cv::Mat& data)
+{
+    CV_Assert(data.type() == cv::DataType<T>::type);
+
+    if (data.cols == 3 && data.rows == 3)
+    {
+        Mat3 R;
+        data.copyTo(R);
+        rotation(R);
+    }
+    else if ((data.cols == 3 && data.rows == 1) || (data.cols == 1 && data.rows == 3))
+    {
+        Vec3 _rvec;
+        data.reshape(1, 3).copyTo(_rvec);
+        rotation(_rvec);
+    }
+    else
+        CV_Assert(!"Input marix can be 3x3, 1x3 or 3x1");
+}
+
+template<typename T> inline
+void cv::Affine3<T>::linear(const Mat3& L)
+{
+    matrix.val[0] = L.val[0]; matrix.val[1] = L.val[1];  matrix.val[ 2] = L.val[2];
+    matrix.val[4] = L.val[3]; matrix.val[5] = L.val[4];  matrix.val[ 6] = L.val[5];
+    matrix.val[8] = L.val[6]; matrix.val[9] = L.val[7];  matrix.val[10] = L.val[8];
+}
+
+template<typename T> inline
+void cv::Affine3<T>::translation(const Vec3& t)
+{
+    matrix.val[3] = t[0]; matrix.val[7] = t[1]; matrix.val[11] = t[2];
+}
+
+template<typename T> inline
+typename cv::Affine3<T>::Mat3 cv::Affine3<T>::rotation() const
+{
+    return linear();
+}
+
+template<typename T> inline
+typename cv::Affine3<T>::Mat3 cv::Affine3<T>::linear() const
+{
+    typename cv::Affine3<T>::Mat3 R;
+    R.val[0] = matrix.val[0];  R.val[1] = matrix.val[1];  R.val[2] = matrix.val[ 2];
+    R.val[3] = matrix.val[4];  R.val[4] = matrix.val[5];  R.val[5] = matrix.val[ 6];
+    R.val[6] = matrix.val[8];  R.val[7] = matrix.val[9];  R.val[8] = matrix.val[10];
+    return R;
+}
+
+template<typename T> inline
+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
+{
+    return matrix.inv(method);
+}
+
+template<typename T> inline
+cv::Affine3<T> cv::Affine3<T>::rotate(const Mat3& R) const
+{
+    Mat3 Lc = linear();
+    Vec3 tc = translation();
+    Mat4 result;
+    result.val[12] = result.val[13] = result.val[14] = 0;
+    result.val[15] = 1;
+
+    for(int j = 0; j < 3; ++j)
+    {
+        for(int i = 0; i < 3; ++i)
+        {
+            float_type value = 0;
+            for(int k = 0; k < 3; ++k)
+                value += R(j, k) * Lc(k, i);
+            result(j, i) = value;
+        }
+
+        result(j, 3) = R.row(j).dot(tc.t());
+    }
+    return result;
+}
+
+template<typename T> inline
+cv::Affine3<T> cv::Affine3<T>::rotate(const Vec3& _rvec) const
+{
+    return rotate(Affine3f(_rvec).rotation());
+}
+
+template<typename T> inline
+cv::Affine3<T> cv::Affine3<T>::translate(const Vec3& t) const
+{
+    Mat4 m = matrix;
+    m.val[ 3] += t[0];
+    m.val[ 7] += t[1];
+    m.val[11] += t[2];
+    return m;
+}
+
+template<typename T> inline
+cv::Affine3<T> cv::Affine3<T>::concatenate(const Affine3<T>& affine) const
+{
+    return (*this).rotate(affine.rotation()).translate(affine.translation());
+}
+
+template<typename T> template <typename Y> inline
+cv::Affine3<T>::operator Affine3<Y>() const
+{
+    return Affine3<Y>(matrix);
+}
+
+template<typename T> template <typename Y> inline
+cv::Affine3<Y> cv::Affine3<T>::cast() const
+{
+    return Affine3<Y>(matrix);
+}
+
+template<typename T> inline
+cv::Affine3<T> cv::operator*(const cv::Affine3<T>& affine1, const cv::Affine3<T>& affine2)
+{
+    return affine2.concatenate(affine1);
+}
+
+template<typename T, typename V> inline
+V cv::operator*(const cv::Affine3<T>& affine, const V& v)
+{
+    const typename Affine3<T>::Mat4& m = affine.matrix;
+
+    V r;
+    r.x = m.val[0] * v.x + m.val[1] * v.y + m.val[ 2] * v.z + m.val[ 3];
+    r.y = m.val[4] * v.x + m.val[5] * v.y + m.val[ 6] * v.z + m.val[ 7];
+    r.z = m.val[8] * v.x + m.val[9] * v.y + m.val[10] * v.z + m.val[11];
+    return r;
+}
+
+static inline
+cv::Vec3f cv::operator*(const cv::Affine3f& affine, const cv::Vec3f& v)
+{
+    const cv::Matx44f& m = affine.matrix;
+    cv::Vec3f r;
+    r.val[0] = m.val[0] * v[0] + m.val[1] * v[1] + m.val[ 2] * v[2] + m.val[ 3];
+    r.val[1] = m.val[4] * v[0] + m.val[5] * v[1] + m.val[ 6] * v[2] + m.val[ 7];
+    r.val[2] = m.val[8] * v[0] + m.val[9] * v[1] + m.val[10] * v[2] + m.val[11];
+    return r;
+}
+
+static inline
+cv::Vec3d cv::operator*(const cv::Affine3d& affine, const cv::Vec3d& v)
+{
+    const cv::Matx44d& m = affine.matrix;
+    cv::Vec3d r;
+    r.val[0] = m.val[0] * v[0] + m.val[1] * v[1] + m.val[ 2] * v[2] + m.val[ 3];
+    r.val[1] = m.val[4] * v[0] + m.val[5] * v[1] + m.val[ 6] * v[2] + m.val[ 7];
+    r.val[2] = m.val[8] * v[0] + m.val[9] * v[1] + m.val[10] * v[2] + m.val[11];
+    return r;
+}
+
+
+
+#if defined EIGEN_WORLD_VERSION && defined EIGEN_GEOMETRY_MODULE_H
+
+template<typename T> inline
+cv::Affine3<T>::Affine3(const Eigen::Transform<T, 3, Eigen::Affine, (Eigen::RowMajor)>& affine)
+{
+    cv::Mat(4, 4, cv::DataType<T>::type, affine.matrix().data()).copyTo(matrix);
+}
+
+template<typename T> inline
+cv::Affine3<T>::Affine3(const Eigen::Transform<T, 3, Eigen::Affine>& affine)
+{
+    Eigen::Transform<T, 3, Eigen::Affine, (Eigen::RowMajor)> a = affine;
+    cv::Mat(4, 4, cv::DataType<T>::type, a.matrix().data()).copyTo(matrix);
+}
+
+template<typename T> inline
+cv::Affine3<T>::operator Eigen::Transform<T, 3, Eigen::Affine, (Eigen::RowMajor)>() const
+{
+    Eigen::Transform<T, 3, Eigen::Affine, (Eigen::RowMajor)> r;
+    cv::Mat hdr(4, 4, cv::DataType<T>::type, r.matrix().data());
+    cv::Mat(matrix, false).copyTo(hdr);
+    return r;
+}
+
+template<typename T> inline
+cv::Affine3<T>::operator Eigen::Transform<T, 3, Eigen::Affine>() const
+{
+    return this->operator Eigen::Transform<T, 3, Eigen::Affine, (Eigen::RowMajor)>();
+}
+
+#endif /* defined EIGEN_WORLD_VERSION && defined EIGEN_GEOMETRY_MODULE_H */
+
+
+#endif /* __cplusplus */
+
+#endif /* __OPENCV_CORE_AFFINE3_HPP__ */
diff --git a/modules/core/include/opencv2/core/core.hpp b/modules/core/include/opencv2/core/core.hpp
index cafba0f8f3..2ecb70c713 100644
--- a/modules/core/include/opencv2/core/core.hpp
+++ b/modules/core/include/opencv2/core/core.hpp
@@ -892,6 +892,7 @@ public:
 typedef Point_<int> Point2i;
 typedef Point2i Point;
 typedef Size_<int> Size2i;
+typedef Size_<double> Size2d;
 typedef Size2i Size;
 typedef Rect_<int> Rect;
 typedef Point_<float> Point2f;
diff --git a/modules/core/include/opencv2/core/types_c.h b/modules/core/include/opencv2/core/types_c.h
index 3e5d5b0334..99ac0d2575 100644
--- a/modules/core/include/opencv2/core/types_c.h
+++ b/modules/core/include/opencv2/core/types_c.h
@@ -245,7 +245,7 @@ enum {
  CV_StsVecLengthErr=           -28, /* incorrect vector length */
  CV_StsFilterStructContentErr= -29, /* incorr. filter structure content */
  CV_StsKernelStructContentErr= -30, /* incorr. transform kernel content */
- CV_StsFilterOffsetErr=        -31, /* incorrect filter ofset value */
+ CV_StsFilterOffsetErr=        -31, /* incorrect filter offset value */
  CV_StsBadSize=                -201, /* the input/output structure size is incorrect  */
  CV_StsDivByZero=              -202, /* division by zero */
  CV_StsInplaceNotSupported=    -203, /* in-place operation is not supported */
diff --git a/modules/core/src/gl_core_3_1.cpp b/modules/core/src/gl_core_3_1.cpp
index bd1eb7ddd3..4a83ba0ca0 100644
--- a/modules/core/src/gl_core_3_1.cpp
+++ b/modules/core/src/gl_core_3_1.cpp
@@ -47,22 +47,27 @@
 #include "gl_core_3_1.hpp"
 
 #ifdef HAVE_OPENGL
-    #if defined(__APPLE__)
-        #include <mach-o/dyld.h>
+
+    #ifdef __APPLE__
+        #include <dlfcn.h>
 
         static void* AppleGLGetProcAddress (const char* name)
         {
-            static const struct mach_header* image = 0;
-            if (!image)
-                image = NSAddImage("/System/Library/Frameworks/OpenGL.framework/Versions/Current/OpenGL", NSADDIMAGE_OPTION_RETURN_ON_ERROR);
-
-            // prepend a '_' for the Unix C symbol mangling convention
-            std::string symbolName = "_";
-            symbolName += std::string(name);
-
-            NSSymbol symbol = image ? NSLookupSymbolInImage(image, &symbolName[0], NSLOOKUPSYMBOLINIMAGE_OPTION_BIND | NSLOOKUPSYMBOLINIMAGE_OPTION_RETURN_ON_ERROR) : 0;
-
-            return symbol ? NSAddressOfSymbol(symbol) : 0;
+            static bool initialized = false;
+            static void * handle = NULL;
+            if (!handle)
+            {
+                if (!initialized)
+                {
+                    initialized = true;
+                    const char * const path = "/System/Library/Frameworks/OpenGL.framework/Versions/Current/OpenGL";
+
+                    handle = dlopen(path, RTLD_LAZY | RTLD_GLOBAL);
+                }
+                if (!handle)
+                    return NULL;
+            }
+            return dlsym(handle, name);
         }
     #endif // __APPLE__
 
diff --git a/modules/core/test/test_math.cpp b/modules/core/test/test_math.cpp
index 3847afce6e..a572cd0d92 100644
--- a/modules/core/test/test_math.cpp
+++ b/modules/core/test/test_math.cpp
@@ -2392,16 +2392,14 @@ TYPED_TEST_P(Core_CheckRange, Negative)
     double min_bound = 4.5;
     double max_bound = 16.0;
 
-    TypeParam data[] = {5, 10, 15, 4, 10 ,2, 8, 12, 14};
+    TypeParam data[] = {5, 10, 15, 4, 10, 2, 8, 12, 14};
     cv::Mat src = cv::Mat(3,3, cv::DataDepth<TypeParam>::value, data);
 
-    cv::Point* bad_pt = new cv::Point(0, 0);
+    cv::Point bad_pt(0, 0);
 
-    ASSERT_FALSE(checkRange(src, true, bad_pt, min_bound, max_bound));
-    ASSERT_EQ(bad_pt->x,0);
-    ASSERT_EQ(bad_pt->y,1);
-
-    delete bad_pt;
+    ASSERT_FALSE(checkRange(src, true, &bad_pt, min_bound, max_bound));
+    ASSERT_EQ(bad_pt.x, 0);
+    ASSERT_EQ(bad_pt.y, 1);
 }
 
 TYPED_TEST_P(Core_CheckRange, Positive)
@@ -2409,16 +2407,14 @@ TYPED_TEST_P(Core_CheckRange, Positive)
     double min_bound = -1;
     double max_bound = 16.0;
 
-    TypeParam data[] = {5, 10, 15, 4, 10 ,2, 8, 12, 14};
+    TypeParam data[] = {5, 10, 15, 4, 10, 2, 8, 12, 14};
     cv::Mat src = cv::Mat(3,3, cv::DataDepth<TypeParam>::value, data);
 
-    cv::Point* bad_pt = new cv::Point(0, 0);
-
-    ASSERT_TRUE(checkRange(src, true, bad_pt, min_bound, max_bound));
-    ASSERT_EQ(bad_pt->x,0);
-    ASSERT_EQ(bad_pt->y,0);
+    cv::Point bad_pt(0, 0);
 
-    delete bad_pt;
+    ASSERT_TRUE(checkRange(src, true, &bad_pt, min_bound, max_bound));
+    ASSERT_EQ(bad_pt.x, 0);
+    ASSERT_EQ(bad_pt.y, 0);
 }
 
 TYPED_TEST_P(Core_CheckRange, Bounds)
@@ -2426,16 +2422,14 @@ TYPED_TEST_P(Core_CheckRange, Bounds)
     double min_bound = 24.5;
     double max_bound = 1.0;
 
-    TypeParam data[] = {5, 10, 15, 4, 10 ,2, 8, 12, 14};
+    TypeParam data[] = {5, 10, 15, 4, 10, 2, 8, 12, 14};
     cv::Mat src = cv::Mat(3,3, cv::DataDepth<TypeParam>::value, data);
 
-    cv::Point* bad_pt = new cv::Point(0, 0);
-
-    ASSERT_FALSE(checkRange(src, true, bad_pt, min_bound, max_bound));
-    ASSERT_EQ(bad_pt->x,0);
-    ASSERT_EQ(bad_pt->y,0);
+    cv::Point bad_pt(0, 0);
 
-    delete bad_pt;
+    ASSERT_FALSE(checkRange(src, true, &bad_pt, min_bound, max_bound));
+    ASSERT_EQ(bad_pt.x, 0);
+    ASSERT_EQ(bad_pt.y, 0);
 }
 
 TYPED_TEST_P(Core_CheckRange, Zero)
diff --git a/modules/dynamicuda/include/opencv2/dynamicuda/dynamicuda.hpp b/modules/dynamicuda/include/opencv2/dynamicuda/dynamicuda.hpp
index d4d0220e00..00f0873030 100644
--- a/modules/dynamicuda/include/opencv2/dynamicuda/dynamicuda.hpp
+++ b/modules/dynamicuda/include/opencv2/dynamicuda/dynamicuda.hpp
@@ -129,15 +129,20 @@ public:
 
 #if defined(USE_CUDA)
 
-#define cudaSafeCall(expr)  ___cudaSafeCall(expr, __FILE__, __LINE__, CV_Func)
-#define nppSafeCall(expr)  ___nppSafeCall(expr, __FILE__, __LINE__, CV_Func)
+// Disable NPP for this file
+//#define USE_NPP
+#undef USE_NPP
 
+#define cudaSafeCall(expr)  ___cudaSafeCall(expr, __FILE__, __LINE__, CV_Func)
 inline void ___cudaSafeCall(cudaError_t err, const char *file, const int line, const char *func = "")
 {
     if (cudaSuccess != err)
         cv::gpu::error(cudaGetErrorString(err), file, line, func);
 }
 
+#ifdef USE_NPP
+
+#define nppSafeCall(expr)  ___nppSafeCall(expr, __FILE__, __LINE__, CV_Func)
 inline void ___nppSafeCall(int err, const char *file, const int line, const char *func = "")
 {
     if (err < 0)
@@ -148,6 +153,8 @@ inline void ___nppSafeCall(int err, const char *file, const int line, const char
     }
 }
 
+#endif
+
 namespace cv { namespace gpu { namespace device
 {
     void copyToWithMask_gpu(PtrStepSzb src, PtrStepSzb dst, size_t elemSize1, int cn, PtrStepSzb mask, bool colorMask, cudaStream_t stream);
@@ -173,6 +180,8 @@ template <typename T> void kernelSetCaller(GpuMat& src, Scalar s, const GpuMat&
     cv::gpu::device::set_to_gpu(src, sf.val, mask, src.channels(), stream);
 }
 
+#ifdef USE_NPP
+
 template<int n> struct NPPTypeTraits;
 template<> struct NPPTypeTraits<CV_8U>  { typedef Npp8u npp_type; };
 template<> struct NPPTypeTraits<CV_8S>  { typedef Npp8s npp_type; };
@@ -182,9 +191,13 @@ template<> struct NPPTypeTraits<CV_32S> { typedef Npp32s npp_type; };
 template<> struct NPPTypeTraits<CV_32F> { typedef Npp32f npp_type; };
 template<> struct NPPTypeTraits<CV_64F> { typedef Npp64f npp_type; };
 
+#endif
+
 //////////////////////////////////////////////////////////////////////////
 // Convert
 
+#ifdef USE_NPP
+
 template<int SDEPTH, int DDEPTH> struct NppConvertFunc
 {
     typedef typename NPPTypeTraits<SDEPTH>::npp_type src_t;
@@ -232,9 +245,13 @@ template<int DDEPTH, typename NppConvertFunc<CV_32F, DDEPTH>::func_ptr func> str
     }
 };
 
+#endif
+
 //////////////////////////////////////////////////////////////////////////
 // Set
 
+#ifdef USE_NPP
+
 template<int SDEPTH, int SCN> struct NppSetFunc
 {
     typedef typename NPPTypeTraits<SDEPTH>::npp_type src_t;
@@ -339,9 +356,13 @@ template<int SDEPTH, typename NppSetMaskFunc<SDEPTH, 1>::func_ptr func> struct N
     }
 };
 
+#endif
+
 //////////////////////////////////////////////////////////////////////////
 // CopyMasked
 
+#ifdef USE_NPP
+
 template<int SDEPTH> struct NppCopyMaskedFunc
 {
     typedef typename NPPTypeTraits<SDEPTH>::npp_type src_t;
@@ -365,6 +386,8 @@ template<int SDEPTH, typename NppCopyMaskedFunc<SDEPTH>::func_ptr func> struct N
     }
 };
 
+#endif
+
 template <typename T> static inline bool isAligned(const T* ptr, size_t size)
 {
     return reinterpret_cast<size_t>(ptr) % size == 0;
@@ -877,6 +900,8 @@ public:
         }
 
         typedef void (*func_t)(const GpuMat& src, GpuMat& dst, const GpuMat& mask, cudaStream_t stream);
+
+#ifdef USE_NPP
         static const func_t funcs[7][4] =
         {
             /*  8U */ {NppCopyMasked<CV_8U , nppiCopy_8u_C1MR >::call, cv::gpu::device::copyWithMask, NppCopyMasked<CV_8U , nppiCopy_8u_C3MR >::call, NppCopyMasked<CV_8U , nppiCopy_8u_C4MR >::call},
@@ -889,6 +914,9 @@ public:
          };
 
          const func_t func =  mask.channels() == src.channels() ? funcs[src.depth()][src.channels() - 1] : cv::gpu::device::copyWithMask;
+#else
+        const func_t func = cv::gpu::device::copyWithMask;
+#endif
 
          func(src, dst, mask, 0);
     }
@@ -896,6 +924,8 @@ public:
     void convert(const GpuMat& src, GpuMat& dst) const
     {
         typedef void (*func_t)(const GpuMat& src, GpuMat& dst);
+
+#ifdef USE_NPP
         static const func_t funcs[7][7][4] =
         {
             {
@@ -962,6 +992,7 @@ public:
                 /* 64F -> 64F */ {0,0,0,0}
             }
         };
+#endif
 
         CV_Assert(src.depth() <= CV_64F && src.channels() <= 4);
         CV_Assert(dst.depth() <= CV_64F);
@@ -980,8 +1011,12 @@ public:
             return;
         }
 
+#ifdef USE_NPP
         const func_t func = funcs[src.depth()][dst.depth()][src.channels() - 1];
         CV_DbgAssert(func != 0);
+#else
+        const func_t func = cv::gpu::device::convertTo;
+#endif
 
         func(src, dst);
     }
@@ -1023,6 +1058,8 @@ public:
             }
 
             typedef void (*func_t)(GpuMat& src, Scalar s);
+
+#ifdef USE_NPP
             static const func_t funcs[7][4] =
             {
                 {NppSet<CV_8U , 1, nppiSet_8u_C1R >::call, cv::gpu::device::setTo                  , cv::gpu::device::setTo                        , NppSet<CV_8U , 4, nppiSet_8u_C4R >::call},
@@ -1033,6 +1070,7 @@ public:
                 {NppSet<CV_32F, 1, nppiSet_32f_C1R>::call, cv::gpu::device::setTo                  , cv::gpu::device::setTo                        , NppSet<CV_32F, 4, nppiSet_32f_C4R>::call},
                 {cv::gpu::device::setTo                  , cv::gpu::device::setTo                  , cv::gpu::device::setTo                        , cv::gpu::device::setTo                          }
             };
+#endif
 
             CV_Assert(m.depth() <= CV_64F && m.channels() <= 4);
 
@@ -1042,14 +1080,22 @@ public:
                     CV_Error(CV_StsUnsupportedFormat, "The device doesn't support double");
             }
 
+#ifdef USE_NPP
+        const func_t func = funcs[m.depth()][m.channels() - 1];
+#else
+        const func_t func = cv::gpu::device::setTo;
+#endif
+
             if (stream)
                 cv::gpu::device::setTo(m, s, stream);
             else
-                funcs[m.depth()][m.channels() - 1](m, s);
+                func(m, s);
         }
         else
         {
             typedef void (*func_t)(GpuMat& src, Scalar s, const GpuMat& mask);
+
+#ifdef USE_NPP
             static const func_t funcs[7][4] =
             {
                 {NppSetMask<CV_8U , 1, nppiSet_8u_C1MR >::call, cv::gpu::device::setTo, cv::gpu::device::setTo, NppSetMask<CV_8U , 4, nppiSet_8u_C4MR >::call},
@@ -1060,6 +1106,7 @@ public:
                 {NppSetMask<CV_32F, 1, nppiSet_32f_C1MR>::call, cv::gpu::device::setTo, cv::gpu::device::setTo, NppSetMask<CV_32F, 4, nppiSet_32f_C4MR>::call},
                 {cv::gpu::device::setTo                       , cv::gpu::device::setTo, cv::gpu::device::setTo, cv::gpu::device::setTo                               }
             };
+#endif
 
             CV_Assert(m.depth() <= CV_64F && m.channels() <= 4);
 
@@ -1069,10 +1116,16 @@ public:
                     CV_Error(CV_StsUnsupportedFormat, "The device doesn't support double");
             }
 
+#ifdef USE_NPP
+        const func_t func = funcs[m.depth()][m.channels() - 1];
+#else
+        const func_t func = cv::gpu::device::setTo;
+#endif
+
             if (stream)
                 cv::gpu::device::setTo(m, s, mask, stream);
             else
-                funcs[m.depth()][m.channels() - 1](m, s, mask);
+                func(m, s, mask);
         }
     }
 
diff --git a/modules/gpu/perf/perf_calib3d.cpp b/modules/gpu/perf/perf_calib3d.cpp
index 91800649c2..4a67405980 100644
--- a/modules/gpu/perf/perf_calib3d.cpp
+++ b/modules/gpu/perf/perf_calib3d.cpp
@@ -93,7 +93,7 @@ PERF_TEST_P(ImagePair, Calib3D_StereoBM,
 //////////////////////////////////////////////////////////////////////
 // StereoBeliefPropagation
 
-PERF_TEST_P(ImagePair, Calib3D_StereoBeliefPropagation,
+PERF_TEST_P(ImagePair, DISABLED_Calib3D_StereoBeliefPropagation,
             Values(pair_string("gpu/stereobp/aloe-L.png", "gpu/stereobp/aloe-R.png")))
 {
     declare.time(300.0);
diff --git a/modules/gpu/perf/perf_imgproc.cpp b/modules/gpu/perf/perf_imgproc.cpp
index 4093b16e73..be0e312a02 100644
--- a/modules/gpu/perf/perf_imgproc.cpp
+++ b/modules/gpu/perf/perf_imgproc.cpp
@@ -851,6 +851,8 @@ PERF_TEST_P(Sz_Depth_Cn, ImgProc_BlendLinear,
     }
 }
 
+#ifdef HAVE_CUFFT
+
 //////////////////////////////////////////////////////////////////////
 // Convolve
 
@@ -1085,6 +1087,8 @@ PERF_TEST_P(Sz_Flags, ImgProc_Dft,
     }
 }
 
+#endif
+
 //////////////////////////////////////////////////////////////////////
 // CornerHarris
 
@@ -1538,7 +1542,7 @@ CV_ENUM(AlphaOp, ALPHA_OVER, ALPHA_IN, ALPHA_OUT, ALPHA_ATOP, ALPHA_XOR, ALPHA_P
 
 DEF_PARAM_TEST(Sz_Type_Op, cv::Size, MatType, AlphaOp);
 
-PERF_TEST_P(Sz_Type_Op, ImgProc_AlphaComp,
+PERF_TEST_P(Sz_Type_Op, DISABLED_ImgProc_AlphaComp,
             Combine(GPU_TYPICAL_MAT_SIZES,
                     Values(CV_8UC4, CV_16UC4, CV_32SC4, CV_32FC4),
                     AlphaOp::all()))
@@ -1559,7 +1563,14 @@ PERF_TEST_P(Sz_Type_Op, ImgProc_AlphaComp,
 
         TEST_CYCLE() cv::gpu::alphaComp(d_img1, d_img2, dst, alpha_op);
 
-        GPU_SANITY_CHECK(dst, 1e-3, ERROR_RELATIVE);
+        if (CV_MAT_DEPTH(type) < CV_32F)
+        {
+            GPU_SANITY_CHECK(dst, 1);
+        }
+        else
+        {
+            GPU_SANITY_CHECK(dst, 1e-3, ERROR_RELATIVE);
+        }
     }
     else
     {
@@ -1825,7 +1836,7 @@ CV_FLAGS(GHMethod, GHT_POSITION, GHT_SCALE, GHT_ROTATION)
 
 DEF_PARAM_TEST(Method_Sz, GHMethod, cv::Size);
 
-PERF_TEST_P(Method_Sz, ImgProc_GeneralizedHough,
+PERF_TEST_P(Method_Sz, DISABLED_ImgProc_GeneralizedHough,
             Combine(Values(GHMethod(cv::GHT_POSITION), GHMethod(cv::GHT_POSITION | cv::GHT_SCALE), GHMethod(cv::GHT_POSITION | cv::GHT_ROTATION), GHMethod(cv::GHT_POSITION | cv::GHT_SCALE | cv::GHT_ROTATION)),
                     GPU_TYPICAL_MAT_SIZES))
 {
diff --git a/modules/gpu/src/cuda/canny.cu b/modules/gpu/src/cuda/canny.cu
index aab922f22c..468eec4172 100644
--- a/modules/gpu/src/cuda/canny.cu
+++ b/modules/gpu/src/cuda/canny.cu
@@ -42,8 +42,6 @@
 
 #if !defined CUDA_DISABLER
 
-#include <utility>
-#include <algorithm>//std::swap
 #include "opencv2/gpu/device/common.hpp"
 #include "opencv2/gpu/device/emulation.hpp"
 #include "opencv2/gpu/device/transform.hpp"
@@ -239,30 +237,35 @@ namespace canny
 {
     __device__ int counter = 0;
 
-    __global__ void edgesHysteresisLocalKernel(PtrStepSzi map, ushort2* st)
+    __device__ __forceinline__ bool checkIdx(int y, int x, int rows, int cols)
+    {
+        return (y >= 0) && (y < rows) && (x >= 0) && (x < cols);
+    }
+
+    __global__ void edgesHysteresisLocalKernel(PtrStepSzi map, short2* st)
     {
         __shared__ volatile int smem[18][18];
 
         const int x = blockIdx.x * blockDim.x + threadIdx.x;
         const int y = blockIdx.y * blockDim.y + threadIdx.y;
 
-        smem[threadIdx.y + 1][threadIdx.x + 1] = x < map.cols && y < map.rows ? map(y, x) : 0;
+        smem[threadIdx.y + 1][threadIdx.x + 1] = checkIdx(y, x, map.rows, map.cols) ? map(y, x) : 0;
         if (threadIdx.y == 0)
-            smem[0][threadIdx.x + 1] = y > 0 ? map(y - 1, x) : 0;
+            smem[0][threadIdx.x + 1] = checkIdx(y - 1, x, map.rows, map.cols) ? map(y - 1, x) : 0;
         if (threadIdx.y == blockDim.y - 1)
-            smem[blockDim.y + 1][threadIdx.x + 1] = y + 1 < map.rows ? map(y + 1, x) : 0;
+            smem[blockDim.y + 1][threadIdx.x + 1] = checkIdx(y + 1, x, map.rows, map.cols) ? map(y + 1, x) : 0;
         if (threadIdx.x == 0)
-            smem[threadIdx.y + 1][0] = x > 0 ? map(y, x - 1) : 0;
+            smem[threadIdx.y + 1][0] = checkIdx(y, x - 1, map.rows, map.cols) ? map(y, x - 1) : 0;
         if (threadIdx.x == blockDim.x - 1)
-            smem[threadIdx.y + 1][blockDim.x + 1] = x + 1 < map.cols ? map(y, x + 1) : 0;
+            smem[threadIdx.y + 1][blockDim.x + 1] = checkIdx(y, x + 1, map.rows, map.cols) ? map(y, x + 1) : 0;
         if (threadIdx.x == 0 && threadIdx.y == 0)
-            smem[0][0] = y > 0 && x > 0 ? map(y - 1, x - 1) : 0;
+            smem[0][0] = checkIdx(y - 1, x - 1, map.rows, map.cols) ? map(y - 1, x - 1) : 0;
         if (threadIdx.x == blockDim.x - 1 && threadIdx.y == 0)
-            smem[0][blockDim.x + 1] = y > 0 && x + 1 < map.cols ? map(y - 1, x + 1) : 0;
+            smem[0][blockDim.x + 1] = checkIdx(y - 1, x + 1, map.rows, map.cols) ? map(y - 1, x + 1) : 0;
         if (threadIdx.x == 0 && threadIdx.y == blockDim.y - 1)
-            smem[blockDim.y + 1][0] = y + 1 < map.rows && x > 0 ? map(y + 1, x - 1) : 0;
+            smem[blockDim.y + 1][0] = checkIdx(y + 1, x - 1, map.rows, map.cols) ? map(y + 1, x - 1) : 0;
         if (threadIdx.x == blockDim.x - 1 && threadIdx.y == blockDim.y - 1)
-            smem[blockDim.y + 1][blockDim.x + 1] = y + 1 < map.rows && x + 1 < map.cols ? map(y + 1, x + 1) : 0;
+            smem[blockDim.y + 1][blockDim.x + 1] = checkIdx(y + 1, x + 1, map.rows, map.cols) ? map(y + 1, x + 1) : 0;
 
         __syncthreads();
 
@@ -290,8 +293,12 @@ namespace canny
                 n += smem[threadIdx.y + 2][threadIdx.x + 2] == 2;
             }
 
+            __syncthreads();
+
             if (n > 0)
                 smem[threadIdx.y + 1][threadIdx.x + 1] = 2;
+
+            __syncthreads();
         }
 
         const int e = smem[threadIdx.y + 1][threadIdx.x + 1];
@@ -317,11 +324,11 @@ namespace canny
         if (n > 0)
         {
             const int ind =  ::atomicAdd(&counter, 1);
-            st[ind] = make_ushort2(x, y);
+            st[ind] = make_short2(x, y);
         }
     }
 
-    void edgesHysteresisLocal(PtrStepSzi map, ushort2* st1)
+    void edgesHysteresisLocal(PtrStepSzi map, short2* st1)
     {
         void* counter_ptr;
         cudaSafeCall( cudaGetSymbolAddress(&counter_ptr, counter) );
@@ -345,13 +352,13 @@ namespace canny
     __constant__ int c_dx[8] = {-1,  0,  1, -1, 1, -1, 0, 1};
     __constant__ int c_dy[8] = {-1, -1, -1,  0, 0,  1, 1, 1};
 
-    __global__ void edgesHysteresisGlobalKernel(PtrStepSzi map, ushort2* st1, ushort2* st2, const int count)
+    __global__ void edgesHysteresisGlobalKernel(PtrStepSzi map, short2* st1, short2* st2, const int count)
     {
         const int stack_size = 512;
 
         __shared__ int s_counter;
         __shared__ int s_ind;
-        __shared__ ushort2 s_st[stack_size];
+        __shared__ short2 s_st[stack_size];
 
         if (threadIdx.x == 0)
             s_counter = 0;
@@ -363,14 +370,14 @@ namespace canny
         if (ind >= count)
             return;
 
-        ushort2 pos = st1[ind];
+        short2 pos = st1[ind];
 
         if (threadIdx.x < 8)
         {
             pos.x += c_dx[threadIdx.x];
             pos.y += c_dy[threadIdx.x];
 
-            if (pos.x > 0 && pos.x < map.cols && pos.y > 0 && pos.y < map.rows && map(pos.y, pos.x) == 1)
+            if (pos.x > 0 && pos.x < map.cols - 1 && pos.y > 0 && pos.y < map.rows - 1 && map(pos.y, pos.x) == 1)
             {
                 map(pos.y, pos.x) = 2;
 
@@ -402,7 +409,7 @@ namespace canny
                 pos.x += c_dx[threadIdx.x & 7];
                 pos.y += c_dy[threadIdx.x & 7];
 
-                if (pos.x > 0 && pos.x < map.cols && pos.y > 0 && pos.y < map.rows && map(pos.y, pos.x) == 1)
+                if (pos.x > 0 && pos.x < map.cols - 1 && pos.y > 0 && pos.y < map.rows - 1 && map(pos.y, pos.x) == 1)
                 {
                     map(pos.y, pos.x) = 2;
 
@@ -419,8 +426,10 @@ namespace canny
         {
             if (threadIdx.x == 0)
             {
-                ind = ::atomicAdd(&counter, s_counter);
-                s_ind = ind - s_counter;
+                s_ind = ::atomicAdd(&counter, s_counter);
+
+                if (s_ind + s_counter > map.cols * map.rows)
+                    s_counter = 0;
             }
 
             __syncthreads();
@@ -432,7 +441,7 @@ namespace canny
         }
     }
 
-    void edgesHysteresisGlobal(PtrStepSzi map, ushort2* st1, ushort2* st2)
+    void edgesHysteresisGlobal(PtrStepSzi map, short2* st1, short2* st2)
     {
         void* counter_ptr;
         cudaSafeCall( cudaGetSymbolAddress(&counter_ptr, canny::counter) );
@@ -454,7 +463,12 @@ namespace canny
 
             cudaSafeCall( cudaMemcpy(&count, counter_ptr, sizeof(int), cudaMemcpyDeviceToHost) );
 
-            std::swap(st1, st2);
+            count = min(count, map.cols * map.rows);
+
+            //std::swap(st1, st2);
+            short2* tmp = st1;
+            st1 = st2;
+            st2 = tmp;
         }
     }
 }
diff --git a/modules/gpu/src/cuda/generalized_hough.cu b/modules/gpu/src/cuda/generalized_hough.cu
index 35451e7e23..5e2041eae4 100644
--- a/modules/gpu/src/cuda/generalized_hough.cu
+++ b/modules/gpu/src/cuda/generalized_hough.cu
@@ -40,8 +40,6 @@
 //
 //M*/
 
-#define CUDA_DISABLER
-
 #if !defined CUDA_DISABLER
 
 #include <thrust/device_ptr.h>
diff --git a/modules/gpu/src/cuda/nlm.cu b/modules/gpu/src/cuda/nlm.cu
index 922cba7e5a..8789a4cf6b 100644
--- a/modules/gpu/src/cuda/nlm.cu
+++ b/modules/gpu/src/cuda/nlm.cu
@@ -266,7 +266,7 @@ namespace cv { namespace gpu { namespace device
         __device__ __forceinline__ int calcDist(const uchar2& a, const uchar2& b) { return (a.x-b.x)*(a.x-b.x) + (a.y-b.y)*(a.y-b.y); }
         __device__ __forceinline__ int calcDist(const uchar3& a, const uchar3& b) { return (a.x-b.x)*(a.x-b.x) + (a.y-b.y)*(a.y-b.y) + (a.z-b.z)*(a.z-b.z); }
 
-        template <class T> struct FastNonLocalMenas
+        template <class T> struct FastNonLocalMeans
         {
             enum
             {
@@ -290,7 +290,7 @@ namespace cv { namespace gpu { namespace device
             int block_window;
             float minus_h2_inv;
 
-            FastNonLocalMenas(int search_window_, int block_window_, float h) : search_radius(search_window_/2), block_radius(block_window_/2),
+            FastNonLocalMeans(int search_window_, int block_window_, float h) : search_radius(search_window_/2), block_radius(block_window_/2),
                 search_window(search_window_), block_window(block_window_), minus_h2_inv(-1.f/(h * h * VecTraits<T>::cn)) {}
 
             PtrStep<T> src;
@@ -394,7 +394,7 @@ namespace cv { namespace gpu { namespace device
                 }
             }
 
-            __device__ __forceinline__ void convolve_window(int i, int j, const int* dist_sums, PtrStepi& col_sums, PtrStepi& up_col_sums, T& dst) const
+            __device__ __forceinline__ void convolve_window(int i, int j, const int* dist_sums, T& dst) const
             {
                 typedef typename TypeVec<float, VecTraits<T>::cn>::vec_type sum_type;
 
@@ -471,18 +471,18 @@ namespace cv { namespace gpu { namespace device
 
                         __syncthreads();
 
-                        convolve_window(i, j, dist_sums, col_sums, up_col_sums, dst(i, j));
+                        convolve_window(i, j, dist_sums, dst(i, j));
                     }
             }
 
         };
 
         template<typename T>
-        __global__ void fast_nlm_kernel(const FastNonLocalMenas<T> fnlm, PtrStepSz<T> dst) { fnlm(dst); }
+        __global__ void fast_nlm_kernel(const FastNonLocalMeans<T> fnlm, PtrStepSz<T> dst) { fnlm(dst); }
 
         void nln_fast_get_buffer_size(const PtrStepSzb& src, int search_window, int block_window, int& buffer_cols, int& buffer_rows)
         {
-            typedef FastNonLocalMenas<uchar> FNLM;
+            typedef FastNonLocalMeans<uchar> FNLM;
             dim3 grid(divUp(src.cols, FNLM::TILE_COLS), divUp(src.rows, FNLM::TILE_ROWS));
 
             buffer_cols = search_window * search_window * grid.y;
@@ -493,7 +493,7 @@ namespace cv { namespace gpu { namespace device
         void nlm_fast_gpu(const PtrStepSzb& src, PtrStepSzb dst, PtrStepi buffer,
                           int search_window, int block_window, float h, cudaStream_t stream)
         {
-            typedef FastNonLocalMenas<T> FNLM;
+            typedef FastNonLocalMeans<T> FNLM;
             FNLM fnlm(search_window, block_window, h);
 
             fnlm.src = (PtrStepSz<T>)src;
diff --git a/modules/gpu/src/generalized_hough.cpp b/modules/gpu/src/generalized_hough.cpp
index 867ba7ee71..a92c37d1a5 100644
--- a/modules/gpu/src/generalized_hough.cpp
+++ b/modules/gpu/src/generalized_hough.cpp
@@ -40,8 +40,6 @@
 //
 //M*/
 
-#define CUDA_DISABLER
-
 #include "precomp.hpp"
 
 using namespace std;
diff --git a/modules/gpu/src/imgproc.cpp b/modules/gpu/src/imgproc.cpp
index 1904b6aad6..66f838f77a 100644
--- a/modules/gpu/src/imgproc.cpp
+++ b/modules/gpu/src/imgproc.cpp
@@ -244,6 +244,10 @@ void cv::gpu::reprojectImageTo3D(const GpuMat& disp, GpuMat& xyz, const Mat& Q,
 ////////////////////////////////////////////////////////////////////////
 // copyMakeBorder
 
+// Disable NPP for this file
+//#define USE_NPP
+#undef USE_NPP
+
 namespace cv { namespace gpu { namespace device
 {
     namespace imgproc
@@ -279,6 +283,7 @@ void cv::gpu::copyMakeBorder(const GpuMat& src, GpuMat& dst, int top, int bottom
 
     cudaStream_t stream = StreamAccessor::getStream(s);
 
+#ifdef USE_NPP
     if (borderType == BORDER_CONSTANT && (src.type() == CV_8UC1 || src.type() == CV_8UC4 || src.type() == CV_32SC1 || src.type() == CV_32FC1))
     {
         NppiSize srcsz;
@@ -328,6 +333,7 @@ void cv::gpu::copyMakeBorder(const GpuMat& src, GpuMat& dst, int top, int bottom
             cudaSafeCall( cudaDeviceSynchronize() );
     }
     else
+#endif
     {
         typedef void (*caller_t)(const PtrStepSzb& src, const PtrStepSzb& dst, int top, int left, int borderType, const Scalar& value, cudaStream_t stream);
         static const caller_t callers[6][4] =
@@ -1485,6 +1491,8 @@ void cv::gpu::convolve(const GpuMat& image, const GpuMat& templ, GpuMat& result,
 
 void cv::gpu::CannyBuf::create(const Size& image_size, int apperture_size)
 {
+    CV_Assert(image_size.width < std::numeric_limits<short>::max() && image_size.height < std::numeric_limits<short>::max());
+
     if (apperture_size > 0)
     {
         ensureSizeIsEnough(image_size, CV_32SC1, dx);
@@ -1500,8 +1508,8 @@ void cv::gpu::CannyBuf::create(const Size& image_size, int apperture_size)
     ensureSizeIsEnough(image_size, CV_32FC1, mag);
     ensureSizeIsEnough(image_size, CV_32SC1, map);
 
-    ensureSizeIsEnough(1, image_size.area(), CV_16UC2, st1);
-    ensureSizeIsEnough(1, image_size.area(), CV_16UC2, st2);
+    ensureSizeIsEnough(1, image_size.area(), CV_16SC2, st1);
+    ensureSizeIsEnough(1, image_size.area(), CV_16SC2, st2);
 }
 
 void cv::gpu::CannyBuf::release()
@@ -1521,9 +1529,9 @@ namespace canny
 
     void calcMap(PtrStepSzi dx, PtrStepSzi dy, PtrStepSzf mag, PtrStepSzi map, float low_thresh, float high_thresh);
 
-    void edgesHysteresisLocal(PtrStepSzi map, ushort2* st1);
+    void edgesHysteresisLocal(PtrStepSzi map, short2* st1);
 
-    void edgesHysteresisGlobal(PtrStepSzi map, ushort2* st1, ushort2* st2);
+    void edgesHysteresisGlobal(PtrStepSzi map, short2* st1, short2* st2);
 
     void getEdges(PtrStepSzi map, PtrStepSzb dst);
 }
@@ -1537,9 +1545,9 @@ namespace
         buf.map.setTo(Scalar::all(0));
         calcMap(dx, dy, buf.mag, buf.map, low_thresh, high_thresh);
 
-        edgesHysteresisLocal(buf.map, buf.st1.ptr<ushort2>());
+        edgesHysteresisLocal(buf.map, buf.st1.ptr<short2>());
 
-        edgesHysteresisGlobal(buf.map, buf.st1.ptr<ushort2>(), buf.st2.ptr<ushort2>());
+        edgesHysteresisGlobal(buf.map, buf.st1.ptr<short2>(), buf.st2.ptr<short2>());
 
         getEdges(buf.map, dst);
     }
diff --git a/modules/gpu/test/nvidia/TestHaarCascadeLoader.cpp b/modules/gpu/test/nvidia/TestHaarCascadeLoader.cpp
index 42552295d2..1c0e691ba2 100644
--- a/modules/gpu/test/nvidia/TestHaarCascadeLoader.cpp
+++ b/modules/gpu/test/nvidia/TestHaarCascadeLoader.cpp
@@ -98,7 +98,7 @@ bool TestHaarCascadeLoader::process()
     NCV_SET_SKIP_COND(this->allocatorGPU.get()->isCounting());
     NCV_SKIP_COND_BEGIN
 
-    const std::string testNvbinName = "test.nvbin";
+    const std::string testNvbinName = cv::tempfile("test.nvbin");
     ncvStat = ncvHaarLoadFromFile_host(this->cascadeName, haar, h_HaarStages, h_HaarNodes, h_HaarFeatures);
     ncvAssertReturn(ncvStat == NCV_SUCCESS, false);
 
diff --git a/modules/gpu/test/test_color.cpp b/modules/gpu/test/test_color.cpp
index 3b4b326e4d..321785ffe0 100644
--- a/modules/gpu/test/test_color.cpp
+++ b/modules/gpu/test/test_color.cpp
@@ -715,7 +715,7 @@ GPU_TEST_P(CvtColor, BGR2YCrCb)
     cv::Mat dst_gold;
     cv::cvtColor(src, dst_gold, cv::COLOR_BGR2YCrCb);
 
-    EXPECT_MAT_NEAR(dst_gold, dst, 1.0);
+    EXPECT_MAT_NEAR(dst_gold, dst, depth == CV_32F ? 1e-2 : 1);
 }
 
 GPU_TEST_P(CvtColor, RGB2YCrCb)
@@ -728,7 +728,7 @@ GPU_TEST_P(CvtColor, RGB2YCrCb)
     cv::Mat dst_gold;
     cv::cvtColor(src, dst_gold, cv::COLOR_RGB2YCrCb);
 
-    EXPECT_MAT_NEAR(dst_gold, dst, 1.0);
+    EXPECT_MAT_NEAR(dst_gold, dst, depth == CV_32F ? 1e-2 : 1);
 }
 
 GPU_TEST_P(CvtColor, BGR2YCrCb4)
@@ -749,7 +749,7 @@ GPU_TEST_P(CvtColor, BGR2YCrCb4)
     cv::split(h_dst, channels);
     cv::merge(channels, 3, h_dst);
 
-    EXPECT_MAT_NEAR(dst_gold, h_dst, 1.0);
+    EXPECT_MAT_NEAR(dst_gold, h_dst, depth == CV_32F ? 1e-2 : 1);
 }
 
 GPU_TEST_P(CvtColor, RGBA2YCrCb4)
@@ -771,7 +771,7 @@ GPU_TEST_P(CvtColor, RGBA2YCrCb4)
     cv::split(h_dst, channels);
     cv::merge(channels, 3, h_dst);
 
-    EXPECT_MAT_NEAR(dst_gold, h_dst, 1.0);
+    EXPECT_MAT_NEAR(dst_gold, h_dst, depth == CV_32F ? 1e-2 : 1);
 }
 
 GPU_TEST_P(CvtColor, YCrCb2BGR)
diff --git a/modules/gpu/test/test_core.cpp b/modules/gpu/test/test_core.cpp
index 1edc69b971..7ceeaedf08 100644
--- a/modules/gpu/test/test_core.cpp
+++ b/modules/gpu/test/test_core.cpp
@@ -3582,7 +3582,7 @@ GPU_TEST_P(Normalize, WithOutMask)
     cv::Mat dst_gold;
     cv::normalize(src, dst_gold, alpha, beta, norm_type, type);
 
-    EXPECT_MAT_NEAR(dst_gold, dst, 1.0);
+    EXPECT_MAT_NEAR(dst_gold, dst, type < CV_32F ? 1.0 : 1e-4);
 }
 
 GPU_TEST_P(Normalize, WithMask)
@@ -3598,7 +3598,7 @@ GPU_TEST_P(Normalize, WithMask)
     dst_gold.setTo(cv::Scalar::all(0));
     cv::normalize(src, dst_gold, alpha, beta, norm_type, type, mask);
 
-    EXPECT_MAT_NEAR(dst_gold, dst, 1.0);
+    EXPECT_MAT_NEAR(dst_gold, dst, type < CV_32F ? 1.0 : 1e-4);
 }
 
 INSTANTIATE_TEST_CASE_P(GPU_Core, Normalize, testing::Combine(
diff --git a/modules/gpu/test/test_denoising.cpp b/modules/gpu/test/test_denoising.cpp
index e480cf4680..e416e92597 100644
--- a/modules/gpu/test/test_denoising.cpp
+++ b/modules/gpu/test/test_denoising.cpp
@@ -114,6 +114,7 @@ GPU_TEST_P(BruteForceNonLocalMeans, Regression)
 
     cv::Mat bgr  = readImage("denoising/lena_noised_gaussian_sigma=20_multi_0.png", cv::IMREAD_COLOR);
     ASSERT_FALSE(bgr.empty());
+    cv::resize(bgr, bgr, cv::Size(256, 256));
 
     cv::Mat gray;
     cv::cvtColor(bgr, gray, CV_BGR2GRAY);
@@ -130,6 +131,8 @@ GPU_TEST_P(BruteForceNonLocalMeans, Regression)
     cv::Mat bgr_gold  = readImage("denoising/nlm_denoised_lena_bgr.png", cv::IMREAD_COLOR);
     cv::Mat gray_gold  = readImage("denoising/nlm_denoised_lena_gray.png", cv::IMREAD_GRAYSCALE);
     ASSERT_FALSE(bgr_gold.empty() || gray_gold.empty());
+    cv::resize(bgr_gold, bgr_gold, cv::Size(256, 256));
+    cv::resize(gray_gold, gray_gold, cv::Size(256, 256));
 
     EXPECT_MAT_NEAR(bgr_gold, dbgr, 1e-4);
     EXPECT_MAT_NEAR(gray_gold, dgray, 1e-4);
diff --git a/modules/gpu/test/test_gpumat.cpp b/modules/gpu/test/test_gpumat.cpp
index 210b6a4415..fee264341b 100644
--- a/modules/gpu/test/test_gpumat.cpp
+++ b/modules/gpu/test/test_gpumat.cpp
@@ -281,7 +281,7 @@ GPU_TEST_P(ConvertTo, WithOutScaling)
         cv::Mat dst_gold;
         src.convertTo(dst_gold, depth2);
 
-        EXPECT_MAT_NEAR(dst_gold, dst, 1.0);
+        EXPECT_MAT_NEAR(dst_gold, dst, depth2 < CV_32F ? 1.0 : 1e-4);
     }
 }
 
diff --git a/modules/gpu/test/test_hough.cpp b/modules/gpu/test/test_hough.cpp
index 6441fc69ab..f876a7a2b0 100644
--- a/modules/gpu/test/test_hough.cpp
+++ b/modules/gpu/test/test_hough.cpp
@@ -189,7 +189,7 @@ PARAM_TEST_CASE(GeneralizedHough, cv::gpu::DeviceInfo, UseRoi)
 {
 };
 
-GPU_TEST_P(GeneralizedHough, DISABLED_POSITION)
+GPU_TEST_P(GeneralizedHough, POSITION)
 {
     const cv::gpu::DeviceInfo devInfo = GET_PARAM(0);
     cv::gpu::setDevice(devInfo.deviceID());
diff --git a/modules/gpu/test/test_imgproc.cpp b/modules/gpu/test/test_imgproc.cpp
index 811d1294cf..9ce32d12b8 100644
--- a/modules/gpu/test/test_imgproc.cpp
+++ b/modules/gpu/test/test_imgproc.cpp
@@ -563,6 +563,8 @@ INSTANTIATE_TEST_CASE_P(GPU_ImgProc, Blend, testing::Combine(
     testing::Values(MatType(CV_8UC1), MatType(CV_8UC3), MatType(CV_8UC4), MatType(CV_32FC1), MatType(CV_32FC3), MatType(CV_32FC4)),
     WHOLE_SUBMAT));
 
+#ifdef HAVE_CUFFT
+
 ////////////////////////////////////////////////////////
 // Convolve
 
@@ -1090,6 +1092,8 @@ GPU_TEST_P(Dft, R2CThenC2R)
 
 INSTANTIATE_TEST_CASE_P(GPU_ImgProc, Dft, ALL_DEVICES);
 
+#endif
+
 ///////////////////////////////////////////////////////////////////////////////////////////////////////
 // CornerHarris
 
diff --git a/modules/gpu/test/test_optflow.cpp b/modules/gpu/test/test_optflow.cpp
index 53b93a096b..571403d2a7 100644
--- a/modules/gpu/test/test_optflow.cpp
+++ b/modules/gpu/test/test_optflow.cpp
@@ -483,13 +483,15 @@ GPU_TEST_P(OpticalFlowBM, Accuracy)
 
     cv::Mat frame0 = readImage("opticalflow/rubberwhale1.png", cv::IMREAD_GRAYSCALE);
     ASSERT_FALSE(frame0.empty());
+    cv::resize(frame0, frame0, cv::Size(), 0.5, 0.5);
 
     cv::Mat frame1 = readImage("opticalflow/rubberwhale2.png", cv::IMREAD_GRAYSCALE);
     ASSERT_FALSE(frame1.empty());
+    cv::resize(frame1, frame1, cv::Size(), 0.5, 0.5);
 
-    cv::Size block_size(16, 16);
+    cv::Size block_size(8, 8);
     cv::Size shift_size(1, 1);
-    cv::Size max_range(16, 16);
+    cv::Size max_range(8, 8);
 
     cv::gpu::GpuMat d_velx, d_vely, buf;
     cv::gpu::calcOpticalFlowBM(loadMat(frame0), loadMat(frame1),
diff --git a/modules/highgui/src/cap_ios_abstract_camera.mm b/modules/highgui/src/cap_ios_abstract_camera.mm
index a77e200a82..b40b3648de 100644
--- a/modules/highgui/src/cap_ios_abstract_camera.mm
+++ b/modules/highgui/src/cap_ios_abstract_camera.mm
@@ -278,8 +278,20 @@
 {
     self.captureVideoPreviewLayer = [[AVCaptureVideoPreviewLayer alloc] initWithSession:self.captureSession];
 
-    if ([self.captureVideoPreviewLayer isOrientationSupported]) {
-        [self.captureVideoPreviewLayer setOrientation:self.defaultAVCaptureVideoOrientation];
+    if ([self.captureVideoPreviewLayer respondsToSelector:@selector(connection)])
+    {
+        if ([self.captureVideoPreviewLayer.connection isVideoOrientationSupported])
+        {
+            [self.captureVideoPreviewLayer.connection setVideoOrientation:self.defaultAVCaptureVideoOrientation];
+        }
+    }
+    else
+    {
+        // Deprecated in 6.0; here for backward compatibility
+        if ([self.captureVideoPreviewLayer isOrientationSupported])
+        {
+            [self.captureVideoPreviewLayer setOrientation:self.defaultAVCaptureVideoOrientation];
+        }
     }
 
     if (parentView != nil) {
@@ -290,9 +302,6 @@
     NSLog(@"[Camera] created AVCaptureVideoPreviewLayer");
 }
 
-
-
-
 - (void)setDesiredCameraPosition:(AVCaptureDevicePosition)desiredPosition;
 {
     for (AVCaptureDevice *device in [AVCaptureDevice devicesWithMediaType:AVMediaTypeVideo]) {
diff --git a/modules/highgui/src/grfmt_tiff.cpp b/modules/highgui/src/grfmt_tiff.cpp
index 614d001231..f40699f83a 100644
--- a/modules/highgui/src/grfmt_tiff.cpp
+++ b/modules/highgui/src/grfmt_tiff.cpp
@@ -111,18 +111,21 @@ bool TiffDecoder::readHeader()
     bool result = false;
 
     close();
-    TIFF* tif = TIFFOpen( m_filename.c_str(), "rb" );
+    // TIFFOpen() mode flags are different to fopen().  A 'b' in mode "rb" has no effect when reading.
+    // http://www.remotesensing.org/libtiff/man/TIFFOpen.3tiff.html
+    TIFF* tif = TIFFOpen( m_filename.c_str(), "r" );
 
     if( tif )
     {
-        int wdth = 0, hght = 0, photometric = 0;
+        uint32 wdth = 0, hght = 0;
+        uint16 photometric = 0;
         m_tif = tif;
 
         if( TIFFGetField( tif, TIFFTAG_IMAGEWIDTH, &wdth ) &&
             TIFFGetField( tif, TIFFTAG_IMAGELENGTH, &hght ) &&
             TIFFGetField( tif, TIFFTAG_PHOTOMETRIC, &photometric ))
         {
-            int bpp=8, ncn = photometric > 1 ? 3 : 1;
+            uint16 bpp=8, ncn = photometric > 1 ? 3 : 1;
             TIFFGetField( tif, TIFFTAG_BITSPERSAMPLE, &bpp );
             TIFFGetField( tif, TIFFTAG_SAMPLESPERPIXEL, &ncn );
 
@@ -175,12 +178,12 @@ bool  TiffDecoder::readData( Mat& img )
     if( m_tif && m_width && m_height )
     {
         TIFF* tif = (TIFF*)m_tif;
-        int tile_width0 = m_width, tile_height0 = 0;
+        uint32 tile_width0 = m_width, tile_height0 = 0;
         int x, y, i;
         int is_tiled = TIFFIsTiled(tif);
-        int photometric;
+        uint16 photometric;
         TIFFGetField( tif, TIFFTAG_PHOTOMETRIC, &photometric );
-        int bpp = 8, ncn = photometric > 1 ? 3 : 1;
+        uint16 bpp = 8, ncn = photometric > 1 ? 3 : 1;
         TIFFGetField( tif, TIFFTAG_BITSPERSAMPLE, &bpp );
         TIFFGetField( tif, TIFFTAG_SAMPLESPERPIXEL, &ncn );
         const int bitsPerByte = 8;
diff --git a/modules/highgui/test/test_ffmpeg.cpp b/modules/highgui/test/test_ffmpeg.cpp
index 30410eaab8..55bf952213 100644
--- a/modules/highgui/test/test_ffmpeg.cpp
+++ b/modules/highgui/test/test_ffmpeg.cpp
@@ -88,7 +88,7 @@ public:
             stringstream s;
             s << tag;
 
-            const string filename = "output_"+s.str()+".avi";
+            const string filename = tempfile((s.str()+".avi").c_str());
 
             try
             {
diff --git a/modules/highgui/test/test_grfmt.cpp b/modules/highgui/test/test_grfmt.cpp
index 1fdf2c515a..bd9e79ad02 100644
--- a/modules/highgui/test/test_grfmt.cpp
+++ b/modules/highgui/test/test_grfmt.cpp
@@ -408,8 +408,8 @@ TEST(Highgui_Tiff, decode_tile16384x16384)
 
     try
     {
-        cv::imread(file3);
-        EXPECT_NO_THROW(cv::imread(file4));
+        cv::imread(file3, CV_LOAD_IMAGE_UNCHANGED);
+        EXPECT_NO_THROW(cv::imread(file4, CV_LOAD_IMAGE_UNCHANGED));
     }
     catch(const std::bad_alloc&)
     {
@@ -420,6 +420,53 @@ TEST(Highgui_Tiff, decode_tile16384x16384)
     remove(file4.c_str());
 }
 
+class CV_GrfmtReadTifTiledWithNotFullTiles: public cvtest::BaseTest
+{
+    // see issue #2601 "16-bit Grayscale TIFF Load Failures Due to Buffer Underflow and Endianness"
+
+    // Setup data for two minimal 16-bit grayscale TIFF files in both endian formats
+    uchar tiff_sample_data[2][86] = { {
+        // Little endian
+        0x49, 0x49, 0x2a, 0x00, 0x0c, 0x00, 0x00, 0x00, 0xad, 0xde, 0xef, 0xbe, 0x06, 0x00, 0x00, 0x01,
+        0x03, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x01, 0x03, 0x00, 0x01, 0x00,
+        0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x01, 0x03, 0x00, 0x01, 0x00, 0x00, 0x00, 0x10, 0x00,
+        0x00, 0x00, 0x06, 0x01, 0x03, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x11, 0x01,
+        0x04, 0x00, 0x01, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x17, 0x01, 0x04, 0x00, 0x01, 0x00,
+        0x00, 0x00, 0x04, 0x00, 0x00, 0x00 }, {
+        // Big endian
+        0x4d, 0x4d, 0x00, 0x2a, 0x00, 0x00, 0x00, 0x0c, 0xde, 0xad, 0xbe, 0xef, 0x00, 0x06, 0x01, 0x00,
+        0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x00, 0x01, 0x01, 0x00, 0x03, 0x00, 0x00,
+        0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x01, 0x02, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x10,
+        0x00, 0x00, 0x01, 0x06, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x01, 0x11,
+        0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x08, 0x01, 0x17, 0x00, 0x04, 0x00, 0x00,
+        0x00, 0x01, 0x00, 0x00, 0x00, 0x04 }
+        };
+
+    // Test imread() for both a little endian TIFF and big endian TIFF
+    for (int i = 0; i < 2; i++)
+    {
+        string filename = cv::tempfile(".tiff");
+
+        // Write sample TIFF file
+        FILE* fp = fopen(filename.c_str(), "wb");
+        ASSERT_TRUE(fp != NULL);
+        ASSERT_EQ((size_t)1, fwrite(tiff_sample_data, 86, 1, fp));
+        fclose(fp);
+
+        Mat img = imread(filename, CV_LOAD_IMAGE_UNCHANGED);
+
+        EXPECT_EQ(1, img.rows);
+        EXPECT_EQ(2, img.cols);
+        EXPECT_EQ(CV_16U, img.type());
+        EXPECT_EQ(sizeof(ushort), img.elemSize());
+        EXPECT_EQ(1, img.channels());
+        EXPECT_EQ(0xDEAD, img.at<ushort>(0,0));
+        EXPECT_EQ(0xBEEF, img.at<ushort>(0,1));
+
+        remove(filename.c_str());
+    }
+}
+
 class CV_GrfmtReadTifTiledWithNotFullTiles: public cvtest::BaseTest
 {
 public:
diff --git a/modules/highgui/test/test_video_io.cpp b/modules/highgui/test/test_video_io.cpp
index cf47b73a6f..755bcd0677 100644
--- a/modules/highgui/test/test_video_io.cpp
+++ b/modules/highgui/test/test_video_io.cpp
@@ -332,9 +332,7 @@ void CV_HighGuiTest::VideoTest(const string& dir, const cvtest::VideoFormat& fmt
         }
     }
 
-    printf("Before saved release for %s\n", tmp_name.c_str());
     cvReleaseCapture( &saved );
-    printf("After release\n");
 
     ts->printf(ts->LOG, "end test function : ImagesVideo \n");
 }
diff --git a/modules/imgproc/src/clahe.cpp b/modules/imgproc/src/clahe.cpp
index 4ce479713e..9ecf792daf 100644
--- a/modules/imgproc/src/clahe.cpp
+++ b/modules/imgproc/src/clahe.cpp
@@ -49,8 +49,8 @@ namespace
     class CLAHE_CalcLut_Body : public cv::ParallelLoopBody
     {
     public:
-        CLAHE_CalcLut_Body(const cv::Mat& src, cv::Mat& lut, cv::Size tileSize, int tilesX, int tilesY, int clipLimit, float lutScale) :
-            src_(src), lut_(lut), tileSize_(tileSize), tilesX_(tilesX), tilesY_(tilesY), clipLimit_(clipLimit), lutScale_(lutScale)
+        CLAHE_CalcLut_Body(const cv::Mat& src, cv::Mat& lut, cv::Size tileSize, int tilesX, int clipLimit, float lutScale) :
+            src_(src), lut_(lut), tileSize_(tileSize), tilesX_(tilesX), clipLimit_(clipLimit), lutScale_(lutScale)
         {
         }
 
@@ -62,7 +62,6 @@ namespace
 
         cv::Size tileSize_;
         int tilesX_;
-        int tilesY_;
         int clipLimit_;
         float lutScale_;
     };
@@ -293,7 +292,7 @@ namespace
             clipLimit = std::max(clipLimit, 1);
         }
 
-        CLAHE_CalcLut_Body calcLutBody(srcForLut, lut_, tileSize, tilesX_, tilesY_, clipLimit, lutScale);
+        CLAHE_CalcLut_Body calcLutBody(srcForLut, lut_, tileSize, tilesX_, clipLimit, lutScale);
         cv::parallel_for_(cv::Range(0, tilesX_ * tilesY_), calcLutBody);
 
         CLAHE_Interpolation_Body interpolationBody(src, dst, lut_, tileSize, tilesX_, tilesY_);
diff --git a/modules/imgproc/src/color.cpp b/modules/imgproc/src/color.cpp
index 15c214ef91..08f27aef97 100644
--- a/modules/imgproc/src/color.cpp
+++ b/modules/imgproc/src/color.cpp
@@ -3214,7 +3214,7 @@ struct YUV420p2RGB888Invoker : ParallelLoopBody
         const int rangeBegin = range.start * 2;
         const int rangeEnd = range.end * 2;
 
-        size_t uvsteps[2] = {width/2, stride - width/2};
+        int uvsteps[2] = {width/2, stride - width/2};
         int usIdx = ustepIdx, vsIdx = vstepIdx;
 
         const uchar* y1 = my1 + rangeBegin * stride;
@@ -3282,7 +3282,7 @@ struct YUV420p2RGBA8888Invoker : ParallelLoopBody
         int rangeBegin = range.start * 2;
         int rangeEnd = range.end * 2;
 
-        size_t uvsteps[2] = {width/2, stride - width/2};
+        int uvsteps[2] = {width/2, stride - width/2};
         int usIdx = ustepIdx, vsIdx = vstepIdx;
 
         const uchar* y1 = my1 + rangeBegin * stride;
diff --git a/modules/imgproc/src/floodfill.cpp b/modules/imgproc/src/floodfill.cpp
index 74047676e4..db2563ddea 100644
--- a/modules/imgproc/src/floodfill.cpp
+++ b/modules/imgproc/src/floodfill.cpp
@@ -41,7 +41,7 @@
 
 #include "precomp.hpp"
 
-#if (__GNUC__ == 4) && (__GNUC_MINOR__ == 8)
+#if defined(__GNUC__) && (__GNUC__ == 4) && (__GNUC_MINOR__ == 8)
 # pragma GCC diagnostic ignored "-Warray-bounds"
 #endif
 
diff --git a/modules/imgproc/src/imgwarp.cpp b/modules/imgproc/src/imgwarp.cpp
index 4748af2cee..6cbb416c9e 100644
--- a/modules/imgproc/src/imgwarp.cpp
+++ b/modules/imgproc/src/imgwarp.cpp
@@ -1217,8 +1217,13 @@ public:
         alpha(_alpha), _beta(__beta), ssize(_ssize), dsize(_dsize),
         ksize(_ksize), xmin(_xmin), xmax(_xmax)
     {
+        CV_Assert(ksize <= MAX_ESIZE);
     }
 
+#if defined(__GNUC__) && (__GNUC__ == 4) && (__GNUC_MINOR__ == 8)
+# pragma GCC diagnostic push
+# pragma GCC diagnostic ignored "-Warray-bounds"
+#endif
     virtual void operator() (const Range& range) const
     {
         int dy, cn = src.channels();
@@ -1267,6 +1272,9 @@ public:
             vresize( (const WT**)rows, (T*)(dst.data + dst.step*dy), beta, dsize.width );
         }
     }
+#if defined(__GNUC__) && (__GNUC__ == 4) && (__GNUC_MINOR__ == 8)
+# pragma GCC diagnostic pop
+#endif
 
 private:
     Mat src;
@@ -1274,7 +1282,9 @@ private:
     const int* xofs, *yofs;
     const AT* alpha, *_beta;
     Size ssize, dsize;
-    int ksize, xmin, xmax;
+    const int ksize, xmin, xmax;
+
+    resizeGeneric_Invoker& operator = (const resizeGeneric_Invoker&);
 };
 
 template<class HResize, class VResize>
diff --git a/modules/imgproc/src/moments.cpp b/modules/imgproc/src/moments.cpp
index 784a61b8df..2fca862bca 100644
--- a/modules/imgproc/src/moments.cpp
+++ b/modules/imgproc/src/moments.cpp
@@ -197,6 +197,10 @@ static void icvContourMoments( CvSeq* contour, CvMoments* moments )
 \****************************************************************************************/
 
 template<typename T, typename WT, typename MT>
+#if defined __GNUC__ && __GNUC__ == 4 && __GNUC_MINOR__ >= 5 && __GNUC_MINOR__ < 9
+// Workaround for http://gcc.gnu.org/bugzilla/show_bug.cgi?id=60196
+__attribute__((optimize("no-tree-vectorize")))
+#endif
 static void momentsInTile( const cv::Mat& img, double* moments )
 {
     cv::Size size = img.size();
diff --git a/modules/imgproc/src/smooth.cpp b/modules/imgproc/src/smooth.cpp
index bbce3deedf..ae14ca9e11 100644
--- a/modules/imgproc/src/smooth.cpp
+++ b/modules/imgproc/src/smooth.cpp
@@ -718,7 +718,7 @@ void cv::boxFilter( InputArray _src, OutputArray _dst, int ddepth,
         ddepth = sdepth;
     _dst.create( src.size(), CV_MAKETYPE(ddepth, cn) );
     Mat dst = _dst.getMat();
-    if( borderType != BORDER_CONSTANT && normalize )
+    if( borderType != BORDER_CONSTANT && normalize && (borderType & BORDER_ISOLATED) != 0 )
     {
         if( src.rows == 1 )
             ksize.height = 1;
diff --git a/modules/imgproc/test/test_convhull.cpp b/modules/imgproc/test/test_convhull.cpp
index e20b1a2076..75fddfd04f 100644
--- a/modules/imgproc/test/test_convhull.cpp
+++ b/modules/imgproc/test/test_convhull.cpp
@@ -1225,7 +1225,7 @@ CV_FitLineTest::CV_FitLineTest()
     max_noise = 0.05;
 }
 
-#if (__GNUC__ == 4) && (__GNUC_MINOR__ == 8)
+#if defined(__GNUC__) && (__GNUC__ == 4) && (__GNUC_MINOR__ == 8)
 # pragma GCC diagnostic push
 # pragma GCC diagnostic ignored "-Warray-bounds"
 #endif
@@ -1301,7 +1301,7 @@ void CV_FitLineTest::generate_point_set( void* pointsSet )
     }
 }
 
-#if (__GNUC__ == 4) && (__GNUC_MINOR__ == 8)
+#if defined(__GNUC__) && (__GNUC__ == 4) && (__GNUC_MINOR__ == 8)
 # pragma GCC diagnostic pop
 #endif
 
@@ -1329,7 +1329,7 @@ void CV_FitLineTest::run_func()
         cv::fitLine(cv::cvarrToMat(points), (cv::Vec6f&)line[0], dist_type, 0, reps, aeps);
 }
 
-#if (__GNUC__ == 4) && (__GNUC_MINOR__ == 8)
+#if defined(__GNUC__) && (__GNUC__ == 4) && (__GNUC_MINOR__ == 8)
 # pragma GCC diagnostic push
 # pragma GCC diagnostic ignored "-Warray-bounds"
 #endif
@@ -1412,7 +1412,7 @@ _exit_:
     return code;
 }
 
-#if (__GNUC__ == 4) && (__GNUC_MINOR__ == 8)
+#if defined(__GNUC__) && (__GNUC__ == 4) && (__GNUC_MINOR__ == 8)
 # pragma GCC diagnostic pop
 #endif
 
diff --git a/modules/imgproc/test/test_filter.cpp b/modules/imgproc/test/test_filter.cpp
index efbad99749..c860a6f114 100644
--- a/modules/imgproc/test/test_filter.cpp
+++ b/modules/imgproc/test/test_filter.cpp
@@ -1886,3 +1886,35 @@ protected:
 };
 
 TEST(Imgproc_Filtering, supportedFormats) { CV_FilterSupportedFormatsTest test; test.safe_run(); }
+
+TEST(Imgproc_Blur, borderTypes)
+{
+    Size kernelSize(3, 3);
+
+    /// ksize > src_roi.size()
+    Mat src(3, 3, CV_8UC1, cv::Scalar::all(255)), dst;
+    Mat src_roi = src(Rect(1, 1, 1, 1));
+    src_roi.setTo(cv::Scalar::all(0));
+
+    // should work like !BORDER_ISOLATED
+    blur(src_roi, dst, kernelSize, Point(-1, -1), BORDER_REPLICATE);
+    EXPECT_EQ(227, dst.at<uchar>(0, 0));
+
+    // should work like BORDER_ISOLATED
+    blur(src_roi, dst, kernelSize, Point(-1, -1), BORDER_REPLICATE | BORDER_ISOLATED);
+    EXPECT_EQ(0, dst.at<uchar>(0, 0));
+
+    /// ksize <= src_roi.size()
+    src = Mat(5, 5, CV_8UC1, cv::Scalar(255));
+    src_roi = src(Rect(1, 1, 3, 3));
+    src_roi.setTo(0);
+    src.at<uchar>(2, 2) = 255;
+
+    // should work like !BORDER_ISOLATED
+    blur(src_roi, dst, kernelSize, Point(-1, -1), BORDER_REPLICATE);
+    Mat expected_dst =
+            (Mat_<uchar>(3, 3) << 170, 113, 170, 113, 28, 113, 170, 113, 170);
+    EXPECT_EQ(expected_dst.type(), dst.type());
+    EXPECT_EQ(expected_dst.size(), dst.size());
+    EXPECT_DOUBLE_EQ(0.0, cvtest::norm(expected_dst, dst, NORM_INF));
+}
diff --git a/modules/java/CMakeLists.txt b/modules/java/CMakeLists.txt
index 198048ebe2..1ef2a1208e 100644
--- a/modules/java/CMakeLists.txt
+++ b/modules/java/CMakeLists.txt
@@ -266,7 +266,7 @@ if(ANDROID)
 else(ANDROID)
   set(JAR_NAME opencv-${LIB_NAME_SUFIX}.jar)
   set(JAR_FILE "${OpenCV_BINARY_DIR}/bin/${JAR_NAME}")
-  configure_file("${CMAKE_CURRENT_SOURCE_DIR}/build.xml.in" "${OpenCV_BINARY_DIR}/build.xml" IMMEDIATE @ONLY)
+  configure_file("${CMAKE_CURRENT_SOURCE_DIR}/build.xml.in" "${OpenCV_BINARY_DIR}/build.xml" @ONLY)
   list(APPEND step3_depends "${OpenCV_BINARY_DIR}/build.xml")
 
   add_custom_command(OUTPUT "${JAR_FILE}" "${JAR_FILE}.dephelper"
diff --git a/modules/java/generator/src/cpp/VideoCapture.cpp b/modules/java/generator/src/cpp/VideoCapture.cpp
index a9d0a56c1c..e4a8bc25a9 100644
--- a/modules/java/generator/src/cpp/VideoCapture.cpp
+++ b/modules/java/generator/src/cpp/VideoCapture.cpp
@@ -329,7 +329,10 @@ JNIEXPORT jstring JNICALL Java_org_opencv_highgui_VideoCapture_n_1getSupportedPr
         VideoCapture* me = (VideoCapture*) self; //TODO: check for NULL
         union {double prop; const char* name;} u;
         u.prop = me->get(CV_CAP_PROP_SUPPORTED_PREVIEW_SIZES_STRING);
-        return env->NewStringUTF(u.name);
+        // VideoCapture::get can return 0.0 or -1.0 if it doesn't support
+        // CV_CAP_PROP_SUPPORTED_PREVIEW_SIZES_STRING
+        if (u.prop != 0.0 && u.prop != -1.0)
+            return env->NewStringUTF(u.name);
     } catch(const std::exception &e) {
         throwJavaException(env, &e, method_name);
     } catch (...) {
diff --git a/modules/java/generator/src/java/android+OpenCVLoader.java b/modules/java/generator/src/java/android+OpenCVLoader.java
index 46e62eb347..0892e3af3c 100644
--- a/modules/java/generator/src/java/android+OpenCVLoader.java
+++ b/modules/java/generator/src/java/android+OpenCVLoader.java
@@ -48,7 +48,17 @@ public class OpenCVLoader
      */
     public static boolean initDebug()
     {
-        return StaticHelper.initOpenCV();
+        return StaticHelper.initOpenCV(false);
+    }
+
+    /**
+     * Loads and initializes OpenCV library from current application package. Roughly, it's an analog of system.loadLibrary("opencv_java").
+     * @param InitCuda load and initialize CUDA runtime libraries.
+     * @return Returns true is initialization of OpenCV was successful.
+     */
+    public static boolean initDebug(boolean InitCuda)
+    {
+        return StaticHelper.initOpenCV(InitCuda);
     }
 
     /**
diff --git a/modules/java/generator/src/java/android+StaticHelper.java b/modules/java/generator/src/java/android+StaticHelper.java
index 8d0629c8d3..10442c904d 100644
--- a/modules/java/generator/src/java/android+StaticHelper.java
+++ b/modules/java/generator/src/java/android+StaticHelper.java
@@ -7,11 +7,21 @@ import android.util.Log;
 
 class StaticHelper {
 
-    public static boolean initOpenCV()
+    public static boolean initOpenCV(boolean InitCuda)
     {
         boolean result;
         String libs = "";
 
+        if(InitCuda)
+        {
+            loadLibrary("cudart");
+            loadLibrary("nppc");
+            loadLibrary("nppi");
+            loadLibrary("npps");
+            loadLibrary("cufft");
+            loadLibrary("cublas");
+        }
+
         Log.d(TAG, "Trying to get library list");
 
         try
@@ -52,7 +62,7 @@ class StaticHelper {
         try
         {
             System.loadLibrary(Name);
-            Log.d(TAG, "OpenCV libs init was ok!");
+            Log.d(TAG, "Library " + Name + " loaded");
         }
         catch(UnsatisfiedLinkError e)
         {
diff --git a/modules/java/generator/src/java/core+TermCriteria.java b/modules/java/generator/src/java/core+TermCriteria.java
index 98a5e3c394..c67e51ea8d 100644
--- a/modules/java/generator/src/java/core+TermCriteria.java
+++ b/modules/java/generator/src/java/core+TermCriteria.java
@@ -87,7 +87,6 @@ public class TermCriteria {
 
     @Override
     public String toString() {
-        if (this == null) return "null";
         return "{ type: " + type + ", maxCount: " + maxCount + ", epsilon: " + epsilon + "}";
     }
 }
diff --git a/modules/legacy/src/bgfg_gaussmix.cpp b/modules/legacy/src/bgfg_gaussmix.cpp
index 3cb7a5af9f..829e4fa14c 100644
--- a/modules/legacy/src/bgfg_gaussmix.cpp
+++ b/modules/legacy/src/bgfg_gaussmix.cpp
@@ -415,7 +415,7 @@ CV_INLINE int _icvRemoveShadowGMM(float* data, int nD,
 //IEEE Trans. on Pattern Analysis and Machine Intelligence, vol.26, no.5, pages 651-656, 2004
 //http://www.zoranz.net/Publications/zivkovic2004PAMI.pdf
 
-#if (__GNUC__ == 4) && (__GNUC_MINOR__ == 8)
+#if defined(__GNUC__) && (__GNUC__ == 4) && (__GNUC_MINOR__ == 8)
 # pragma GCC diagnostic push
 # pragma GCC diagnostic ignored "-Wmaybe-uninitialized"
 #endif
@@ -608,7 +608,7 @@ CV_INLINE int _icvUpdateGMM(float* data, int nD,
     return bBackground;
 }
 
-#if (__GNUC__ == 4) && (__GNUC_MINOR__ == 8)
+#if defined(__GNUC__) && (__GNUC__ == 4) && (__GNUC_MINOR__ == 8)
 # pragma GCC diagnostic pop
 #endif
 
diff --git a/modules/legacy/src/face.cpp b/modules/legacy/src/face.cpp
index b188a10def..2132ea8f95 100644
--- a/modules/legacy/src/face.cpp
+++ b/modules/legacy/src/face.cpp
@@ -200,6 +200,7 @@ void RFace::CalculateError(FaceData * lpFaceData)
 void  RFace::CreateFace(void * lpData)
 {
     FaceData Data;
+    memset(&Data, 0, sizeof(FaceData));
 
     double Error = MAX_ERROR;
     double CurError = MAX_ERROR;
diff --git a/modules/legacy/src/lmeds.cpp b/modules/legacy/src/lmeds.cpp
index 33b57a7597..d1bb298ec1 100644
--- a/modules/legacy/src/lmeds.cpp
+++ b/modules/legacy/src/lmeds.cpp
@@ -163,7 +163,7 @@ icvLMedS( int *points1, int *points2, int numPoints, CvMatrix3 * fundamentalMatr
 /*===========================================================================*/
 /*===========================================================================*/
 
-#if (__GNUC__ == 4) && (__GNUC_MINOR__ == 8)
+#if defined(__GNUC__) && (__GNUC__ == 4) && (__GNUC_MINOR__ == 8)
 # pragma GCC diagnostic push
 # pragma GCC diagnostic ignored "-Warray-bounds"
 #endif
@@ -328,7 +328,7 @@ icvCubic( double a2, double a1, double a0, double *squares )
     return CV_NO_ERR;
 }                               /* icvCubic */
 
-#if (__GNUC__ == 4) && (__GNUC_MINOR__ == 8)
+#if defined(__GNUC__) && (__GNUC__ == 4) && (__GNUC_MINOR__ == 8)
 # pragma GCC diagnostic pop
 #endif
 
diff --git a/modules/nonfree/CMakeLists.txt b/modules/nonfree/CMakeLists.txt
index d5c5562eca..b43273bc80 100644
--- a/modules/nonfree/CMakeLists.txt
+++ b/modules/nonfree/CMakeLists.txt
@@ -3,10 +3,10 @@ if(BUILD_ANDROID_PACKAGE)
 endif()
 
 set(the_description "Functionality with possible limitations on the use")
-ocv_warnings_disable(CMAKE_CXX_FLAGS -Wundef)
-if (ENABLE_DYNAMIC_CUDA)
-  set(HAVE_CUDA FALSE)
+ocv_warnings_disable(CMAKE_CXX_FLAGS -Wundef -Wshadow)
+if(ENABLE_DYNAMIC_CUDA)
+  add_definitions(-DDYNAMIC_CUDA_SUPPORT)
   ocv_define_module(nonfree opencv_imgproc opencv_features2d opencv_calib3d OPTIONAL opencv_ocl)
 else()
   ocv_define_module(nonfree opencv_imgproc opencv_features2d opencv_calib3d OPTIONAL opencv_gpu opencv_ocl)
-endif()
\ No newline at end of file
+endif()
diff --git a/modules/nonfree/include/opencv2/nonfree/gpu.hpp b/modules/nonfree/include/opencv2/nonfree/gpu.hpp
index c8730fb3b9..722ef26a25 100644
--- a/modules/nonfree/include/opencv2/nonfree/gpu.hpp
+++ b/modules/nonfree/include/opencv2/nonfree/gpu.hpp
@@ -43,11 +43,7 @@
 #ifndef __OPENCV_NONFREE_GPU_HPP__
 #define __OPENCV_NONFREE_GPU_HPP__
 
-#include "opencv2/opencv_modules.hpp"
-
-#if defined(HAVE_OPENCV_GPU) && !defined(ANDROID)
-
-#include "opencv2/gpu/gpu.hpp"
+#include "opencv2/core/gpumat.hpp"
 
 namespace cv { namespace gpu {
 
@@ -129,6 +125,4 @@ public:
 
 } // namespace cv
 
-#endif // defined(HAVE_OPENCV_GPU)
-
 #endif // __OPENCV_NONFREE_GPU_HPP__
diff --git a/modules/nonfree/perf/perf_gpu.cpp b/modules/nonfree/perf/perf_gpu.cpp
index 9f451deaba..e29eeb2fa8 100644
--- a/modules/nonfree/perf/perf_gpu.cpp
+++ b/modules/nonfree/perf/perf_gpu.cpp
@@ -42,7 +42,9 @@
 
 #include "perf_precomp.hpp"
 
-#if defined(HAVE_OPENCV_GPU) && defined(HAVE_CUDA)
+#include "cvconfig.h"
+
+#if defined(HAVE_OPENCV_GPU) && defined(HAVE_CUDA) && !defined(DYNAMIC_CUDA_SUPPORT)
 
 #include "opencv2/ts/gpu_perf.hpp"
 
diff --git a/modules/nonfree/perf/perf_main.cpp b/modules/nonfree/perf/perf_main.cpp
index d5f4a1a512..03f9b71852 100644
--- a/modules/nonfree/perf/perf_main.cpp
+++ b/modules/nonfree/perf/perf_main.cpp
@@ -4,6 +4,9 @@
 static const char * impls[] = {
 #ifdef HAVE_CUDA
     "cuda",
+#endif
+#ifdef HAVE_OPENCL
+    "ocl",
 #endif
     "plain"
 };
diff --git a/modules/nonfree/perf/perf_surf.ocl.cpp b/modules/nonfree/perf/perf_surf_ocl.cpp
similarity index 66%
rename from modules/nonfree/perf/perf_surf.ocl.cpp
rename to modules/nonfree/perf/perf_surf_ocl.cpp
index cc48aa28c5..4528b79268 100644
--- a/modules/nonfree/perf/perf_surf.ocl.cpp
+++ b/modules/nonfree/perf/perf_surf_ocl.cpp
@@ -57,55 +57,68 @@ typedef perf::TestBaseWithParam<std::string> OCL_SURF;
     "cv/detectors_descriptors_evaluation/images_datasets/leuven/img1.png",\
     "stitching/a3.png"
 
-PERF_TEST_P(OCL_SURF, DISABLED_with_data_transfer, testing::Values(SURF_IMAGES))
+#define OCL_TEST_CYCLE() for( ; startTimer(), next(); cv::ocl::finish(), stopTimer())
+
+PERF_TEST_P(OCL_SURF, with_data_transfer, testing::Values(SURF_IMAGES))
 {
     string filename = getDataPath(GetParam());
-    Mat img = imread(filename, IMREAD_GRAYSCALE);
-    ASSERT_FALSE(img.empty());
-
-    SURF_OCL d_surf;
-    oclMat d_keypoints;
-    oclMat d_descriptors;
-    Mat cpu_kp;
-    Mat cpu_dp;
+    Mat src = imread(filename, IMREAD_GRAYSCALE);
+    ASSERT_FALSE(src.empty());
 
+    Mat cpu_kp, cpu_dp;
     declare.time(60);
 
-    TEST_CYCLE()
+    if (getSelectedImpl() == "ocl")
     {
-        oclMat d_src(img);
+        SURF_OCL d_surf;
+        oclMat d_keypoints, d_descriptors;
 
-        d_surf(d_src, oclMat(), d_keypoints, d_descriptors);
+        OCL_TEST_CYCLE()
+        {
+            oclMat d_src(src);
 
-        d_keypoints.download(cpu_kp);
-        d_descriptors.download(cpu_dp);
+            d_surf(d_src, oclMat(), d_keypoints, d_descriptors);
+
+            d_keypoints.download(cpu_kp);
+            d_descriptors.download(cpu_dp);
+        }
     }
+    else if (getSelectedImpl() == "plain")
+    {
+        cv::SURF surf;
+        std::vector<cv::KeyPoint> kp;
 
-    SANITY_CHECK(cpu_kp, 1);
-    SANITY_CHECK(cpu_dp, 1);
+        TEST_CYCLE() surf(src, Mat(), kp, cpu_dp);
+    }
+
+    SANITY_CHECK_NOTHING();
 }
 
-PERF_TEST_P(OCL_SURF, DISABLED_without_data_transfer, testing::Values(SURF_IMAGES))
+PERF_TEST_P(OCL_SURF, without_data_transfer, testing::Values(SURF_IMAGES))
 {
     string filename = getDataPath(GetParam());
-    Mat img = imread(filename, IMREAD_GRAYSCALE);
-    ASSERT_FALSE(img.empty());
-
-    SURF_OCL d_surf;
-    oclMat d_keypoints;
-    oclMat d_descriptors;
-    oclMat d_src(img);
+    Mat src = imread(filename, IMREAD_GRAYSCALE);
+    ASSERT_FALSE(src.empty());
 
+    Mat cpu_kp, cpu_dp;
     declare.time(60);
 
-    TEST_CYCLE() d_surf(d_src, oclMat(), d_keypoints, d_descriptors);
+    if (getSelectedImpl() == "ocl")
+    {
+        SURF_OCL d_surf;
+        oclMat d_keypoints, d_descriptors, d_src(src);
+
+        OCL_TEST_CYCLE() d_surf(d_src, oclMat(), d_keypoints, d_descriptors);
+    }
+    else if (getSelectedImpl() == "plain")
+    {
+        cv::SURF surf;
+        std::vector<cv::KeyPoint> kp;
+
+        TEST_CYCLE() surf(src, Mat(), kp, cpu_dp);
+    }
 
-    Mat cpu_kp;
-    Mat cpu_dp;
-    d_keypoints.download(cpu_kp);
-    d_descriptors.download(cpu_dp);
-    SANITY_CHECK(cpu_kp, 1);
-    SANITY_CHECK(cpu_dp, 1);
+    SANITY_CHECK_NOTHING();
 }
 
 #endif // HAVE_OPENCV_OCL
diff --git a/modules/nonfree/src/cuda/surf.cu b/modules/nonfree/src/cuda/surf.cu
index df5905d31d..65345a363d 100644
--- a/modules/nonfree/src/cuda/surf.cu
+++ b/modules/nonfree/src/cuda/surf.cu
@@ -42,7 +42,7 @@
 
 #include "opencv2/opencv_modules.hpp"
 
-#if defined(HAVE_OPENCV_GPU) && !defined(ANDROID)
+#if defined(HAVE_OPENCV_GPU) && !defined(DYNAMIC_CUDA_SUPPORT)
 
 #include "opencv2/gpu/device/common.hpp"
 #include "opencv2/gpu/device/limits.hpp"
diff --git a/modules/nonfree/src/precomp.hpp b/modules/nonfree/src/precomp.hpp
index 0d2e180fc5..6311ee2aa9 100644
--- a/modules/nonfree/src/precomp.hpp
+++ b/modules/nonfree/src/precomp.hpp
@@ -51,17 +51,14 @@
 #include "opencv2/imgproc/imgproc.hpp"
 #include "opencv2/core/internal.hpp"
 
-#if defined(HAVE_OPENCV_GPU) && !defined(ANDROID)
-    #include "opencv2/nonfree/gpu.hpp"
+#include "opencv2/nonfree/gpu.hpp"
 
-    #if defined(HAVE_CUDA)
-        #include "opencv2/gpu/stream_accessor.hpp"
-        #include "opencv2/gpu/device/common.hpp"
-
-        static inline void throw_nogpu() { CV_Error(CV_StsNotImplemented, "The called functionality is disabled for current build or platform"); }
-    #else
-        static inline void throw_nogpu() { CV_Error(CV_GpuNotSupported, "The library is compiled without GPU support"); }
-    #endif
+#if defined(HAVE_CUDA) && defined(HAVE_OPENCV_GPU) && !defined(DYNAMIC_CUDA_SUPPORT)
+    #include "opencv2/gpu/stream_accessor.hpp"
+    #include "opencv2/gpu/device/common.hpp"
+    static inline void throw_nogpu() { CV_Error(CV_StsNotImplemented, "The called functionality is disabled for current build or platform"); }
+#else
+    static inline void throw_nogpu() { CV_Error(CV_GpuNotSupported, "The library is compiled without GPU support"); }
 #endif
 
 #ifdef HAVE_OPENCV_OCL
diff --git a/modules/nonfree/src/surf_gpu.cpp b/modules/nonfree/src/surf_gpu.cpp
index e0cf6ff517..b3c2ce22b2 100644
--- a/modules/nonfree/src/surf_gpu.cpp
+++ b/modules/nonfree/src/surf_gpu.cpp
@@ -42,12 +42,10 @@
 
 #include "precomp.hpp"
 
-#if defined(HAVE_OPENCV_GPU) && !defined(ANDROID)
-
 using namespace cv;
 using namespace cv::gpu;
 
-#if !defined (HAVE_CUDA)
+#if !defined (HAVE_CUDA) || !defined(HAVE_OPENCV_GPU) || defined(DYNAMIC_CUDA_SUPPORT)
 
 cv::gpu::SURF_GPU::SURF_GPU() { throw_nogpu(); }
 cv::gpu::SURF_GPU::SURF_GPU(double, int, int, bool, float, bool) { throw_nogpu(); }
@@ -421,5 +419,3 @@ void cv::gpu::SURF_GPU::releaseMemory()
 }
 
 #endif // !defined (HAVE_CUDA)
-
-#endif // defined(HAVE_OPENCV_GPU) && !defined(ANDROID)
diff --git a/modules/nonfree/src/surf.ocl.cpp b/modules/nonfree/src/surf_ocl.cpp
similarity index 100%
rename from modules/nonfree/src/surf.ocl.cpp
rename to modules/nonfree/src/surf_ocl.cpp
diff --git a/modules/nonfree/test/test_gpu.cpp b/modules/nonfree/test/test_gpu.cpp
index 3f63eeddf2..938bc1d328 100644
--- a/modules/nonfree/test/test_gpu.cpp
+++ b/modules/nonfree/test/test_gpu.cpp
@@ -42,7 +42,9 @@
 
 #include "test_precomp.hpp"
 
-#if defined(HAVE_OPENCV_GPU) && defined(HAVE_CUDA)
+#include "cvconfig.h"
+
+#if defined(HAVE_OPENCV_GPU) && defined(HAVE_CUDA) && !defined(DYNAMIC_CUDA_SUPPORT)
 
 using namespace cvtest;
 
diff --git a/modules/nonfree/test/test_surf.ocl.cpp b/modules/nonfree/test/test_surf_ocl.cpp
similarity index 100%
rename from modules/nonfree/test/test_surf.ocl.cpp
rename to modules/nonfree/test/test_surf_ocl.cpp
diff --git a/modules/ocl/perf/perf_haar.cpp b/modules/ocl/perf/perf_haar.cpp
index 86890a8911..1a97e908c1 100644
--- a/modules/ocl/perf/perf_haar.cpp
+++ b/modules/ocl/perf/perf_haar.cpp
@@ -95,10 +95,11 @@ typedef perf::TestBaseWithParam<OCL_Cascade_Image_MinSize_t> OCL_Cascade_Image_M
 
 PERF_TEST_P( OCL_Cascade_Image_MinSize, CascadeClassifier,
              testing::Combine(
-                testing::Values( string("cv/cascadeandhog/cascades/haarcascade_frontalface_alt.xml") ),
+                testing::Values( string("cv/cascadeandhog/cascades/haarcascade_frontalface_alt.xml"),
+                                 string("cv/cascadeandhog/cascades/haarcascade_frontalface_alt2.xml") ),
                 testing::Values( string("cv/shared/lena.png"),
-                                 string("cv/cascadeandhog/images/bttf301.png"),
-                                 string("cv/cascadeandhog/images/class57.png") ),
+                                 string("cv/cascadeandhog/images/bttf301.png")/*,
+                                 string("cv/cascadeandhog/images/class57.png")*/ ),
                 testing::Values(30, 64, 90) ) )
 {
     const string cascasePath = get<0>(GetParam());
diff --git a/modules/ocl/perf/perf_ml.cpp b/modules/ocl/perf/perf_ml.cpp
index db45eceb8f..13dcaa18f0 100644
--- a/modules/ocl/perf/perf_ml.cpp
+++ b/modules/ocl/perf/perf_ml.cpp
@@ -106,4 +106,108 @@ PERF_TEST_P(KNNFixture, KNN,
     }else
         OCL_PERF_ELSE
     SANITY_CHECK(best_label);
-}
\ No newline at end of file
+}
+
+
+typedef TestBaseWithParam<tuple<int> > SVMFixture;
+
+// code is based on: samples\cpp\tutorial_code\ml\non_linear_svms\non_linear_svms.cpp
+PERF_TEST_P(SVMFixture, DISABLED_SVM,
+            testing::Values(50, 100))
+{
+
+    const int NTRAINING_SAMPLES = get<0>(GetParam()); // Number of training samples per class
+
+    #define FRAC_LINEAR_SEP     0.9f // Fraction of samples which compose the linear separable part
+
+    const int WIDTH = 512, HEIGHT = 512;
+
+    Mat trainData(2*NTRAINING_SAMPLES, 2, CV_32FC1);
+    Mat labels   (2*NTRAINING_SAMPLES, 1, CV_32FC1);
+
+    RNG rng(100); // Random value generation class
+
+    // Set up the linearly separable part of the training data
+    int nLinearSamples = (int) (FRAC_LINEAR_SEP * NTRAINING_SAMPLES);
+
+    // Generate random points for the class 1
+    Mat trainClass = trainData.rowRange(0, nLinearSamples);
+    // The x coordinate of the points is in [0, 0.4)
+    Mat c = trainClass.colRange(0, 1);
+    rng.fill(c, RNG::UNIFORM, Scalar(1), Scalar(0.4 * WIDTH));
+    // The y coordinate of the points is in [0, 1)
+    c = trainClass.colRange(1,2);
+    rng.fill(c, RNG::UNIFORM, Scalar(1), Scalar(HEIGHT));
+
+    // Generate random points for the class 2
+    trainClass = trainData.rowRange(2*NTRAINING_SAMPLES-nLinearSamples, 2*NTRAINING_SAMPLES);
+    // The x coordinate of the points is in [0.6, 1]
+    c = trainClass.colRange(0 , 1);
+    rng.fill(c, RNG::UNIFORM, Scalar(0.6*WIDTH), Scalar(WIDTH));
+    // The y coordinate of the points is in [0, 1)
+    c = trainClass.colRange(1,2);
+    rng.fill(c, RNG::UNIFORM, Scalar(1), Scalar(HEIGHT));
+
+    //------------------ Set up the non-linearly separable part of the training data ---------------
+
+    // Generate random points for the classes 1 and 2
+    trainClass = trainData.rowRange(  nLinearSamples, 2*NTRAINING_SAMPLES-nLinearSamples);
+    // The x coordinate of the points is in [0.4, 0.6)
+    c = trainClass.colRange(0,1);
+    rng.fill(c, RNG::UNIFORM, Scalar(0.4*WIDTH), Scalar(0.6*WIDTH));
+    // The y coordinate of the points is in [0, 1)
+    c = trainClass.colRange(1,2);
+    rng.fill(c, RNG::UNIFORM, Scalar(1), Scalar(HEIGHT));
+
+    //------------------------- Set up the labels for the classes ---------------------------------
+    labels.rowRange(                0,   NTRAINING_SAMPLES).setTo(1);  // Class 1
+    labels.rowRange(NTRAINING_SAMPLES, 2*NTRAINING_SAMPLES).setTo(2);  // Class 2
+
+    //------------------------ Set up the support vector machines parameters --------------------
+    CvSVMParams params;
+    params.svm_type    = SVM::C_SVC;
+    params.C           = 0.1;
+    params.kernel_type = SVM::LINEAR;
+    params.term_crit   = TermCriteria(CV_TERMCRIT_ITER, (int)1e7, 1e-6);
+
+    Mat dst = Mat::zeros(HEIGHT, WIDTH, CV_8UC1);
+
+    Mat samples(WIDTH*HEIGHT, 2, CV_32FC1);
+    int k = 0;
+    for (int i = 0; i < HEIGHT; ++i)
+    {
+        for (int j = 0; j < WIDTH; ++j)
+        {
+            samples.at<float>(k, 0) = (float)i;
+            samples.at<float>(k, 0) = (float)j;
+            k++;
+        }
+    }
+    Mat results(WIDTH*HEIGHT, 1, CV_32FC1);
+
+    CvMat samples_ = samples;
+    CvMat results_ = results;
+
+    if(RUN_PLAIN_IMPL)
+    {
+        CvSVM svm;
+        svm.train(trainData, labels, Mat(), Mat(), params);
+        TEST_CYCLE()
+        {
+            svm.predict(&samples_, &results_);
+        }
+    }
+    else if(RUN_OCL_IMPL)
+    {
+        CvSVM_OCL svm;
+        svm.train(trainData, labels, Mat(), Mat(), params);
+        OCL_TEST_CYCLE()
+        {
+            svm.predict(&samples_, &results_);
+        }
+    }
+    else
+        OCL_PERF_ELSE
+
+    SANITY_CHECK_NOTHING();
+}
diff --git a/modules/ocl/src/opencl/arithm_pow.cl b/modules/ocl/src/opencl/arithm_pow.cl
index 385e4cc15a..fe24553e97 100644
--- a/modules/ocl/src/opencl/arithm_pow.cl
+++ b/modules/ocl/src/opencl/arithm_pow.cl
@@ -66,7 +66,7 @@ __kernel void arithm_pow(__global VT * src, int src_step, int src_offset,
         int dst_index = mad24(y, dst_step, x + dst_offset);
 
         VT src_data = src[src_index];
-        VT tmp = src_data > 0 ? exp(p * log(src_data)) : (src_data == 0 ? 0 : exp(p * log(fabs(src_data))));
+        VT tmp = src_data > (VT)0 ? (VT)exp(p * log(src_data)) : (src_data == (VT)0 ? (VT)0 : (VT)exp(p * log(fabs(src_data))));
 
         dst[dst_index] = tmp;
     }
diff --git a/modules/ocl/src/opencl/imgproc_resize.cl b/modules/ocl/src/opencl/imgproc_resize.cl
index ebf8c712b7..100d687739 100644
--- a/modules/ocl/src/opencl/imgproc_resize.cl
+++ b/modules/ocl/src/opencl/imgproc_resize.cl
@@ -83,10 +83,10 @@ __kernel void resizeLN_C1_D0(__global uchar * dst, __global uchar const * restri
     int y = floor(sy);
     float v = sy - y;
 
-    u = x < 0 ? 0 : u;
-    u = (x >= src_cols) ? 0 : u;
-    x = x < 0 ? 0 : x;
-    x = (x >= src_cols) ? src_cols-1 : x;
+    u = x < (int4)0 ? (float4)0 : u;
+    u = (x >= (int4)src_cols) ? (float4)0 : u;
+    x = x < (int4)0 ? (int4)0 : x;
+    x = (x >= (int4)src_cols) ? (int4)(src_cols-1) : x;
 
     y<0 ? y=0,v=0 : y;
     y>=src_rows ? y=src_rows-1,v=0 : y;
diff --git a/modules/stitching/CMakeLists.txt b/modules/stitching/CMakeLists.txt
index 6e9a35ba73..fc8b2fcf96 100644
--- a/modules/stitching/CMakeLists.txt
+++ b/modules/stitching/CMakeLists.txt
@@ -1,6 +1,7 @@
 set(the_description "Images stitching")
-if (ENABLE_DYNAMIC_CUDA)
+if(ENABLE_DYNAMIC_CUDA)
+  add_definitions(-DDYNAMIC_CUDA_SUPPORT)
   ocv_define_module(stitching opencv_imgproc opencv_features2d opencv_calib3d opencv_objdetect OPTIONAL opencv_nonfree)
 else()
   ocv_define_module(stitching opencv_imgproc opencv_features2d opencv_calib3d opencv_objdetect OPTIONAL opencv_gpu opencv_nonfree)
-endif()
\ No newline at end of file
+endif()
diff --git a/modules/stitching/include/opencv2/stitching/detail/matchers.hpp b/modules/stitching/include/opencv2/stitching/detail/matchers.hpp
index 36f80f481c..af7439fba2 100644
--- a/modules/stitching/include/opencv2/stitching/detail/matchers.hpp
+++ b/modules/stitching/include/opencv2/stitching/detail/matchers.hpp
@@ -44,11 +44,12 @@
 #define __OPENCV_STITCHING_MATCHERS_HPP__
 
 #include "opencv2/core/core.hpp"
+#include "opencv2/core/gpumat.hpp"
 #include "opencv2/features2d/features2d.hpp"
 
 #include "opencv2/opencv_modules.hpp"
 
-#if defined(HAVE_OPENCV_NONFREE) && defined(HAVE_OPENCV_GPU) && !defined(ANDROID)
+#if defined(HAVE_OPENCV_NONFREE)
     #include "opencv2/nonfree/gpu.hpp"
 #endif
 
@@ -104,7 +105,7 @@ private:
 };
 
 
-#if defined(HAVE_OPENCV_NONFREE) && defined(HAVE_OPENCV_GPU) && !defined(ANDROID)
+#if defined(HAVE_OPENCV_NONFREE)
 class CV_EXPORTS SurfFeaturesFinderGpu : public FeaturesFinder
 {
 public:
diff --git a/modules/stitching/include/opencv2/stitching/detail/seam_finders.hpp b/modules/stitching/include/opencv2/stitching/detail/seam_finders.hpp
index 9301dc5ebe..5034c80043 100644
--- a/modules/stitching/include/opencv2/stitching/detail/seam_finders.hpp
+++ b/modules/stitching/include/opencv2/stitching/detail/seam_finders.hpp
@@ -45,7 +45,7 @@
 
 #include <set>
 #include "opencv2/core/core.hpp"
-#include "opencv2/opencv_modules.hpp"
+#include "opencv2/core/gpumat.hpp"
 
 namespace cv {
 namespace detail {
@@ -227,7 +227,6 @@ private:
 };
 
 
-#if defined(HAVE_OPENCV_GPU) && !defined(ANDROID)
 class CV_EXPORTS GraphCutSeamFinderGpu : public GraphCutSeamFinderBase, public PairwiseSeamFinder
 {
 public:
@@ -251,7 +250,6 @@ private:
     float terminal_cost_;
     float bad_region_penalty_;
 };
-#endif
 
 } // namespace detail
 } // namespace cv
diff --git a/modules/stitching/include/opencv2/stitching/detail/warpers.hpp b/modules/stitching/include/opencv2/stitching/detail/warpers.hpp
index d44bfe69eb..60d5e54188 100644
--- a/modules/stitching/include/opencv2/stitching/detail/warpers.hpp
+++ b/modules/stitching/include/opencv2/stitching/detail/warpers.hpp
@@ -44,11 +44,8 @@
 #define __OPENCV_STITCHING_WARPERS_HPP__
 
 #include "opencv2/core/core.hpp"
+#include "opencv2/core/gpumat.hpp"
 #include "opencv2/imgproc/imgproc.hpp"
-#include "opencv2/opencv_modules.hpp"
-#if defined(HAVE_OPENCV_GPU) && !defined(ANDROID)
-# include "opencv2/gpu/gpu.hpp"
-#endif
 
 namespace cv {
 namespace detail {
@@ -331,7 +328,6 @@ public:
 };
 
 
-#if defined(HAVE_OPENCV_GPU) && !defined(ANDROID)
 class CV_EXPORTS PlaneWarperGpu : public PlaneWarper
 {
 public:
@@ -448,7 +444,6 @@ public:
 private:
     gpu::GpuMat d_xmap_, d_ymap_, d_src_, d_dst_;
 };
-#endif
 
 
 struct SphericalPortraitProjector : ProjectorBase
diff --git a/modules/stitching/include/opencv2/stitching/warpers.hpp b/modules/stitching/include/opencv2/stitching/warpers.hpp
index 87efa7e80a..11e012ff09 100644
--- a/modules/stitching/include/opencv2/stitching/warpers.hpp
+++ b/modules/stitching/include/opencv2/stitching/warpers.hpp
@@ -145,7 +145,6 @@ public:
 
 
 
-#if defined(HAVE_OPENCV_GPU) && !defined(ANDROID)
 class PlaneWarperGpu: public WarperCreator
 {
 public:
@@ -165,7 +164,6 @@ class SphericalWarperGpu: public WarperCreator
 public:
     Ptr<detail::RotationWarper> create(float scale) const { return new detail::SphericalWarperGpu(scale); }
 };
-#endif
 
 } // namespace cv
 
diff --git a/modules/stitching/src/blenders.cpp b/modules/stitching/src/blenders.cpp
index fb3c0d666b..316263e998 100644
--- a/modules/stitching/src/blenders.cpp
+++ b/modules/stitching/src/blenders.cpp
@@ -189,7 +189,7 @@ Rect FeatherBlender::createWeightMaps(const vector<Mat> &masks, const vector<Poi
 MultiBandBlender::MultiBandBlender(int try_gpu, int num_bands, int weight_type)
 {
     setNumBands(num_bands);
-#if defined(HAVE_OPENCV_GPU) && !defined(ANDROID)
+#if defined(HAVE_OPENCV_GPU) && !defined(DYNAMIC_CUDA_SUPPORT)
     can_use_gpu_ = try_gpu && gpu::getCudaEnabledDeviceCount();
 #else
     (void)try_gpu;
@@ -491,7 +491,7 @@ void createLaplacePyr(const Mat &img, int num_levels, vector<Mat> &pyr)
 
 void createLaplacePyrGpu(const Mat &img, int num_levels, vector<Mat> &pyr)
 {
-#if defined(HAVE_OPENCV_GPU) && !defined(ANDROID)
+#if defined(HAVE_OPENCV_GPU) && !defined(DYNAMIC_CUDA_SUPPORT)
     pyr.resize(num_levels + 1);
 
     vector<gpu::GpuMat> gpu_pyr(num_levels + 1);
@@ -512,6 +512,7 @@ void createLaplacePyrGpu(const Mat &img, int num_levels, vector<Mat> &pyr)
     (void)img;
     (void)num_levels;
     (void)pyr;
+    CV_Error(CV_StsNotImplemented, "CUDA optimization is unavailable");
 #endif
 }
 
@@ -531,7 +532,7 @@ void restoreImageFromLaplacePyr(vector<Mat> &pyr)
 
 void restoreImageFromLaplacePyrGpu(vector<Mat> &pyr)
 {
-#if defined(HAVE_OPENCV_GPU) && !defined(ANDROID)
+#if defined(HAVE_OPENCV_GPU) && !defined(DYNAMIC_CUDA_SUPPORT)
     if (pyr.empty())
         return;
 
@@ -549,6 +550,7 @@ void restoreImageFromLaplacePyrGpu(vector<Mat> &pyr)
     gpu_pyr[0].download(pyr[0]);
 #else
     (void)pyr;
+    CV_Error(CV_StsNotImplemented, "CUDA optimization is unavailable");
 #endif
 }
 
diff --git a/modules/stitching/src/matchers.cpp b/modules/stitching/src/matchers.cpp
index d86206233f..ac29d7ca2b 100644
--- a/modules/stitching/src/matchers.cpp
+++ b/modules/stitching/src/matchers.cpp
@@ -45,10 +45,7 @@
 using namespace std;
 using namespace cv;
 using namespace cv::detail;
-
-#if defined(HAVE_OPENCV_GPU) && !defined(ANDROID)
 using namespace cv::gpu;
-#endif
 
 #ifdef HAVE_OPENCV_NONFREE
 #include "opencv2/nonfree/nonfree.hpp"
@@ -129,7 +126,7 @@ private:
     float match_conf_;
 };
 
-#if defined(HAVE_OPENCV_GPU) && !defined(ANDROID)
+#if defined(HAVE_OPENCV_GPU) && !defined(DYNAMIC_CUDA_SUPPORT)
 class GpuMatcher : public FeaturesMatcher
 {
 public:
@@ -204,7 +201,7 @@ void CpuMatcher::match(const ImageFeatures &features1, const ImageFeatures &feat
     LOG("1->2 & 2->1 matches: " << matches_info.matches.size() << endl);
 }
 
-#if defined(HAVE_OPENCV_GPU) && !defined(ANDROID)
+#if defined(HAVE_OPENCV_GPU) && !defined(DYNAMIC_CUDA_SUPPORT)
 void GpuMatcher::match(const ImageFeatures &features1, const ImageFeatures &features2, MatchesInfo& matches_info)
 {
     matches_info.matches.clear();
@@ -432,7 +429,7 @@ void OrbFeaturesFinder::find(const Mat &image, ImageFeatures &features)
     }
 }
 
-#if defined(HAVE_OPENCV_NONFREE) && defined(HAVE_OPENCV_GPU) && !defined(ANDROID)
+#if defined(HAVE_OPENCV_NONFREE) && defined(HAVE_OPENCV_GPU) && !defined(DYNAMIC_CUDA_SUPPORT)
 SurfFeaturesFinderGpu::SurfFeaturesFinderGpu(double hess_thresh, int num_octaves, int num_layers,
                                              int num_octaves_descr, int num_layers_descr)
 {
@@ -478,6 +475,29 @@ void SurfFeaturesFinderGpu::collectGarbage()
     keypoints_.release();
     descriptors_.release();
 }
+#elif defined(HAVE_OPENCV_NONFREE)
+SurfFeaturesFinderGpu::SurfFeaturesFinderGpu(double hess_thresh, int num_octaves, int num_layers,
+                                             int num_octaves_descr, int num_layers_descr)
+{
+    (void)hess_thresh;
+    (void)num_octaves;
+    (void)num_layers;
+    (void)num_octaves_descr;
+    (void)num_layers_descr;
+    CV_Error(CV_StsNotImplemented, "CUDA optimization is unavailable");
+}
+
+
+void SurfFeaturesFinderGpu::find(const Mat &image, ImageFeatures &features)
+{
+    (void)image;
+    (void)features;
+    CV_Error(CV_StsNotImplemented, "CUDA optimization is unavailable");
+}
+
+void SurfFeaturesFinderGpu::collectGarbage()
+{
+}
 #endif
 
 
@@ -533,7 +553,7 @@ void FeaturesMatcher::operator ()(const vector<ImageFeatures> &features, vector<
 
 BestOf2NearestMatcher::BestOf2NearestMatcher(bool try_use_gpu, float match_conf, int num_matches_thresh1, int num_matches_thresh2)
 {
-#if defined(HAVE_OPENCV_GPU) && !defined(ANDROID)
+#if defined(HAVE_OPENCV_GPU) && !defined(DYNAMIC_CUDA_SUPPORT)
     if (try_use_gpu && getCudaEnabledDeviceCount() > 0)
         impl_ = new GpuMatcher(match_conf);
     else
diff --git a/modules/stitching/src/precomp.hpp b/modules/stitching/src/precomp.hpp
index 54b6721437..699f19c38c 100644
--- a/modules/stitching/src/precomp.hpp
+++ b/modules/stitching/src/precomp.hpp
@@ -68,7 +68,7 @@
 #include "opencv2/imgproc/imgproc.hpp"
 #include "opencv2/features2d/features2d.hpp"
 #include "opencv2/calib3d/calib3d.hpp"
-#if defined(HAVE_OPENCV_GPU) && !defined(ANDROID)
+#if defined(HAVE_OPENCV_GPU) && !defined(DYNAMIC_CUDA_SUPPORT)
     #include "opencv2/gpu/gpu.hpp"
 
     #ifdef HAVE_OPENCV_NONFREE
diff --git a/modules/stitching/src/seam_finders.cpp b/modules/stitching/src/seam_finders.cpp
index a198c1ebb4..234f2047e6 100644
--- a/modules/stitching/src/seam_finders.cpp
+++ b/modules/stitching/src/seam_finders.cpp
@@ -1318,7 +1318,7 @@ void GraphCutSeamFinder::find(const vector<Mat> &src, const vector<Point> &corne
 }
 
 
-#if defined(HAVE_OPENCV_GPU) && !defined(ANDROID)
+#if defined(HAVE_OPENCV_GPU) && !defined(DYNAMIC_CUDA_SUPPORT)
 void GraphCutSeamFinderGpu::find(const vector<Mat> &src, const vector<Point> &corners,
                                  vector<Mat> &masks)
 {
@@ -1642,6 +1642,62 @@ void GraphCutSeamFinderGpu::setGraphWeightsColorGrad(
         }
     }
 }
+#else
+void GraphCutSeamFinderGpu::find(const vector<Mat> &src, const vector<Point> &corners,
+                                 vector<Mat> &masks)
+{
+    (void)src;
+    (void)corners;
+    (void)masks;
+    CV_Error(CV_StsNotImplemented, "CUDA optimization is unavailable");
+}
+
+
+void GraphCutSeamFinderGpu::findInPair(size_t first, size_t second, Rect roi)
+{
+    (void)first;
+    (void)second;
+    (void)roi;
+    CV_Error(CV_StsNotImplemented, "CUDA optimization is unavailable");
+}
+
+
+void GraphCutSeamFinderGpu::setGraphWeightsColor(const Mat &img1, const Mat &img2, const Mat &mask1, const Mat &mask2,
+                                                 Mat &terminals, Mat &leftT, Mat &rightT, Mat &top, Mat &bottom)
+{
+    (void)img1;
+    (void)img2;
+    (void)mask1;
+    (void)mask2;
+    (void)terminals;
+    (void)leftT;
+    (void)rightT;
+    (void)top;
+    (void)bottom;
+    CV_Error(CV_StsNotImplemented, "CUDA optimization is unavailable");
+}
+
+
+void GraphCutSeamFinderGpu::setGraphWeightsColorGrad(
+        const Mat &img1, const Mat &img2, const Mat &dx1, const Mat &dx2,
+        const Mat &dy1, const Mat &dy2, const Mat &mask1, const Mat &mask2,
+        Mat &terminals, Mat &leftT, Mat &rightT, Mat &top, Mat &bottom)
+{
+    (void)img1;
+    (void)img2;
+    (void)dx1;
+    (void)dx2;
+    (void)dy1;
+    (void)dy2;
+    (void)mask1;
+    (void)mask2;
+    (void)terminals;
+    (void)leftT;
+    (void)rightT;
+    (void)top;
+    (void)bottom;
+    CV_Error(CV_StsNotImplemented, "CUDA optimization is unavailable");
+}
 #endif
 
 } // namespace detail
diff --git a/modules/stitching/src/stitcher.cpp b/modules/stitching/src/stitcher.cpp
index 4a36ab0a45..83ea60954e 100644
--- a/modules/stitching/src/stitcher.cpp
+++ b/modules/stitching/src/stitcher.cpp
@@ -58,7 +58,7 @@ Stitcher Stitcher::createDefault(bool try_use_gpu)
     stitcher.setFeaturesMatcher(new detail::BestOf2NearestMatcher(try_use_gpu));
     stitcher.setBundleAdjuster(new detail::BundleAdjusterRay());
 
-#if defined(HAVE_OPENCV_GPU) && !defined(ANDROID)
+#if defined(HAVE_OPENCV_GPU) && !defined(DYNAMIC_CUDA_SUPPORT)
     if (try_use_gpu && gpu::getCudaEnabledDeviceCount() > 0)
     {
 #if defined(HAVE_OPENCV_NONFREE)
diff --git a/modules/stitching/src/warpers.cpp b/modules/stitching/src/warpers.cpp
index 935831950f..3b1d9c2287 100644
--- a/modules/stitching/src/warpers.cpp
+++ b/modules/stitching/src/warpers.cpp
@@ -212,7 +212,7 @@ void SphericalWarper::detectResultRoi(Size src_size, Point &dst_tl, Point &dst_b
 }
 
 
-#if defined(HAVE_OPENCV_GPU) && !defined(ANDROID)
+#if defined(HAVE_OPENCV_GPU) && !defined(DYNAMIC_CUDA_SUPPORT)
 Rect PlaneWarperGpu::buildMaps(Size src_size, const Mat &K, const Mat &R, gpu::GpuMat &xmap, gpu::GpuMat &ymap)
 {
     return buildMaps(src_size, K, R, Mat::zeros(3, 1, CV_32F), xmap, ymap);
@@ -294,6 +294,96 @@ Point CylindricalWarperGpu::warp(const gpu::GpuMat &src, const Mat &K, const Mat
     gpu::remap(src, dst, d_xmap_, d_ymap_, interp_mode, border_mode);
     return dst_roi.tl();
 }
+#else
+Rect PlaneWarperGpu::buildMaps(Size src_size, const Mat &K, const Mat &R, gpu::GpuMat &xmap, gpu::GpuMat &ymap)
+{
+    return buildMaps(src_size, K, R, Mat::zeros(3, 1, CV_32F), xmap, ymap);
+}
+
+Rect PlaneWarperGpu::buildMaps(Size src_size, const Mat &K, const Mat &R, const Mat &T, gpu::GpuMat &xmap, gpu::GpuMat &ymap)
+{
+    (void)src_size;
+    (void)K;
+    (void)R;
+    (void)T;
+    (void)xmap;
+    (void)ymap;
+    CV_Error(CV_StsNotImplemented, "CUDA optimization is unavailable");
+    return Rect();
+}
+
+Point PlaneWarperGpu::warp(const gpu::GpuMat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
+                           gpu::GpuMat &dst)
+{
+    return warp(src, K, R, Mat::zeros(3, 1, CV_32F), interp_mode, border_mode, dst);
+}
+
+
+Point PlaneWarperGpu::warp(const gpu::GpuMat &src, const Mat &K, const Mat &R, const Mat &T, int interp_mode, int border_mode,
+                           gpu::GpuMat &dst)
+{
+    (void)src;
+    (void)K;
+    (void)R;
+    (void)T;
+    (void)interp_mode;
+    (void)border_mode;
+    (void)dst;
+    CV_Error(CV_StsNotImplemented, "CUDA optimization is unavailable");
+    return Point();
+}
+
+
+Rect SphericalWarperGpu::buildMaps(Size src_size, const Mat &K, const Mat &R, gpu::GpuMat &xmap, gpu::GpuMat &ymap)
+{
+    (void)src_size;
+    (void)K;
+    (void)R;
+    (void)xmap;
+    (void)ymap;
+    CV_Error(CV_StsNotImplemented, "CUDA optimization is unavailable");
+    return Rect();
+}
+
+
+Point SphericalWarperGpu::warp(const gpu::GpuMat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
+                               gpu::GpuMat &dst)
+{
+    (void)src;
+    (void)K;
+    (void)R;
+    (void)interp_mode;
+    (void)border_mode;
+    (void)dst;
+    CV_Error(CV_StsNotImplemented, "CUDA optimization is unavailable");
+    return Point();
+}
+
+
+Rect CylindricalWarperGpu::buildMaps(Size src_size, const Mat &K, const Mat &R, gpu::GpuMat &xmap, gpu::GpuMat &ymap)
+{
+    (void)src_size;
+    (void)K;
+    (void)R;
+    (void)xmap;
+    (void)ymap;
+    CV_Error(CV_StsNotImplemented, "CUDA optimization is unavailable");
+    return Rect();
+}
+
+
+Point CylindricalWarperGpu::warp(const gpu::GpuMat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
+                                 gpu::GpuMat &dst)
+{
+    (void)src;
+    (void)K;
+    (void)R;
+    (void)interp_mode;
+    (void)border_mode;
+    (void)dst;
+    CV_Error(CV_StsNotImplemented, "CUDA optimization is unavailable");
+    return Point();
+}
 #endif
 
 void SphericalPortraitWarper::detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br)
diff --git a/modules/superres/CMakeLists.txt b/modules/superres/CMakeLists.txt
index 3da8dc2c6e..82c61cccb4 100644
--- a/modules/superres/CMakeLists.txt
+++ b/modules/superres/CMakeLists.txt
@@ -3,5 +3,5 @@ if(ANDROID OR IOS)
 endif()
 
 set(the_description "Super Resolution")
-ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4127 -Wundef)
+ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4127 -Wundef -Wshadow)
 ocv_define_module(superres opencv_imgproc opencv_video OPTIONAL opencv_gpu opencv_highgui opencv_ocl ${CUDA_LIBRARIES} ${CUDA_npp_LIBRARY})
diff --git a/modules/ts/misc/xls-report.py b/modules/ts/misc/xls-report.py
index e71a7f66c7..6b90b59247 100755
--- a/modules/ts/misc/xls-report.py
+++ b/modules/ts/misc/xls-report.py
@@ -97,6 +97,9 @@ re_data_type = re.compile(r'^ (?: 8 | 16 | 32 | 64 ) [USF] C [1234] $', re.VERBO
 
 time_style = xlwt.easyxf(num_format_str='#0.00')
 no_time_style = xlwt.easyxf('pattern: pattern solid, fore_color gray25')
+failed_style = xlwt.easyxf('pattern: pattern solid, fore_color red')
+noimpl_style = xlwt.easyxf('pattern: pattern solid, fore_color orange')
+style_dict = {"failed": failed_style, "noimpl":noimpl_style}
 
 speedup_style = time_style
 good_speedup_style = xlwt.easyxf('font: color green', num_format_str='#0.00')
@@ -328,7 +331,7 @@ def main():
 
                 for c in config_names:
                     if c in configs:
-                        sheet.write(row, col, configs[c], time_style)
+                        sheet.write(row, col, configs[c], style_dict.get(configs[c], time_style))
                     else:
                         sheet.write(row, col, None, no_time_style)
                     col += 1
diff --git a/modules/ts/src/ts_arrtest.cpp b/modules/ts/src/ts_arrtest.cpp
index ec3f18330d..cdfbe23b37 100644
--- a/modules/ts/src/ts_arrtest.cpp
+++ b/modules/ts/src/ts_arrtest.cpp
@@ -122,7 +122,7 @@ void ArrayTest::get_test_array_types_and_sizes( int /*test_case_idx*/, vector<ve
 }
 
 
-static const int icvTsTypeToDepth[] =
+static const unsigned int icvTsTypeToDepth[] =
 {
     IPL_DEPTH_8U, IPL_DEPTH_8S, IPL_DEPTH_16U, IPL_DEPTH_16S,
     IPL_DEPTH_32S, IPL_DEPTH_32F, IPL_DEPTH_64F
diff --git a/modules/viz/CMakeLists.txt b/modules/viz/CMakeLists.txt
new file mode 100644
index 0000000000..7ccd079216
--- /dev/null
+++ b/modules/viz/CMakeLists.txt
@@ -0,0 +1,11 @@
+if(NOT WITH_VTK OR NOT DEFINED HAVE_VTK OR NOT HAVE_VTK)
+  ocv_module_disable(viz)
+endif()
+
+include(${VTK_USE_FILE})
+set(the_description "Viz")
+ocv_define_module(viz opencv_core ${VTK_LIBRARIES})
+
+if(APPLE AND BUILD_opencv_viz)
+  target_link_libraries(opencv_viz "-framework Cocoa")
+endif()
diff --git a/modules/viz/doc/images/cpw1.png b/modules/viz/doc/images/cpw1.png
new file mode 100644
index 0000000000..985b1eeaff
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diff --git a/modules/viz/doc/viz.rst b/modules/viz/doc/viz.rst
new file mode 100644
index 0000000000..1d8c743ad2
--- /dev/null
+++ b/modules/viz/doc/viz.rst
@@ -0,0 +1,9 @@
+***********************
+viz. 3D Visualizer
+***********************
+
+.. toctree::
+    :maxdepth: 2
+
+    viz3d.rst
+    widget.rst
diff --git a/modules/viz/doc/viz3d.rst b/modules/viz/doc/viz3d.rst
new file mode 100644
index 0000000000..d0e24ae8e7
--- /dev/null
+++ b/modules/viz/doc/viz3d.rst
@@ -0,0 +1,637 @@
+Viz
+===
+
+.. highlight:: cpp
+
+This section describes 3D visualization window as well as classes and methods
+that are used to interact with it.
+
+3D visualization window (see :ocv:class:`Viz3d`) is used to display widgets (see :ocv:class:`Widget`), and it provides
+several methods to interact with scene and widgets.
+
+viz::makeTransformToGlobal
+--------------------------
+Takes coordinate frame data and builds transform to global coordinate frame.
+
+.. ocv:function:: Affine3d viz::makeTransformToGlobal(const Vec3f& axis_x, const Vec3f& axis_y, const Vec3f& axis_z, const Vec3f& origin = Vec3f::all(0))
+
+    :param axis_x: X axis vector in global coordinate frame.
+    :param axis_y: Y axis vector in global coordinate frame.
+    :param axis_z: Z axis vector in global coordinate frame.
+    :param origin: Origin of the coordinate frame in global coordinate frame.
+
+This function returns affine transform that describes transformation between global coordinate frame and a given coordinate frame.
+
+viz::makeCameraPose
+-------------------
+Constructs camera pose from position, focal_point and up_vector (see gluLookAt() for more infromation).
+
+.. ocv:function:: Affine3d makeCameraPose(const Vec3f& position, const Vec3f& focal_point, const Vec3f& y_dir)
+
+    :param position: Position of the camera in global coordinate frame.
+    :param focal_point: Focal point of the camera in global coordinate frame.
+    :param y_dir: Up vector of the camera in global coordinate frame.
+
+This function returns pose of the camera in global coordinate frame.
+
+viz::getWindowByName
+--------------------
+Retrieves a window by its name.
+
+.. ocv:function:: Viz3d getWindowByName(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::getWindowByName("myWindow");
+                viz::Viz3d window_2 = viz::getWindowByName("Viz - myWindow");
+
+viz::isNan
+----------
+Checks **float/double** value for nan.
+
+    .. ocv:function:: bool isNan(float x)
+
+    .. ocv:function:: bool isNan(double x)
+
+        :param x: return true if nan.
+
+Checks **vector** for nan.
+
+    .. ocv:function:: bool isNan(const Vec<_Tp, cn>& v)
+
+        :param v: return true if **any** of the elements of the vector is *nan*.
+
+Checks **point** for nan
+
+    .. ocv:function:: bool isNan(const Point3_<_Tp>& p)
+
+        :param p: return true if **any** of the elements of the point is *nan*.
+
+viz::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 Affine3d &pose = Affine3d::Identity());
+        void removeWidget(const String &id);
+        Widget getWidget(const String &id) const;
+        void removeAllWidgets();
+
+        void setWidgetPose(const String &id, const Affine3d &pose);
+        void updateWidgetPose(const String &id, const Affine3d &pose);
+        Affine3d getWidgetPose(const String &id) const;
+
+        void showImage(InputArray image, const Size& window_size = Size(-1, -1));
+
+        void setCamera(const Camera &camera);
+        Camera getCamera() const;
+        Affine3d getViewerPose();
+        void setViewerPose(const Affine3d &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 setRepresentation(int representation);
+    private:
+        /* hidden */
+    };
+
+viz::Viz3d::Viz3d
+-----------------
+The constructors.
+
+.. ocv:function:: Viz3d::Viz3d(const String& window_name = String())
+
+    :param window_name: Name of the window.
+
+viz::Viz3d::showWidget
+----------------------
+Shows a widget in the window.
+
+.. ocv:function:: void Viz3d::showWidget(const String &id, const Widget &widget, const Affine3d &pose = Affine3d::Identity())
+
+    :param id: A unique id for the widget.
+    :param widget: The widget to be displayed in the window.
+    :param pose: Pose of the widget.
+
+viz::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.
+
+viz::Viz3d::getWidget
+---------------------
+Retrieves a widget from the window. A widget is implicitly shared;
+that is, if the returned widget is modified, the changes will be
+immediately visible in the window.
+
+.. ocv:function:: Widget getWidget(const String &id) const
+
+    :param id: The id of the widget that will be returned.
+
+viz::Viz3d::removeAllWidgets
+----------------------------
+Removes all widgets from the window.
+
+.. ocv:function:: void removeAllWidgets()
+
+viz::Viz3d::showImage
+---------------------
+Removed all widgets and displays image scaled to whole window area.
+
+.. ocv:function:: void showImage(InputArray image, const Size& window_size = Size(-1, -1))
+
+    :param image: Image to be displayed.
+    :param size: Size of Viz3d window. Default value means no change.
+
+viz::Viz3d::setWidgetPose
+-------------------------
+Sets pose of a widget in the window.
+
+.. ocv:function:: void setWidgetPose(const String &id, const Affine3d &pose)
+
+    :param id: The id of the widget whose pose will be set.
+    :param pose: The new pose of the widget.
+
+viz::Viz3d::updateWidgetPose
+----------------------------
+Updates pose of a widget in the window by pre-multiplying its current pose.
+
+.. ocv:function:: void updateWidgetPose(const String &id, const Affine3d &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.
+
+viz::Viz3d::getWidgetPose
+-------------------------
+Returns the current pose of a widget in the window.
+
+.. ocv:function:: Affine3d getWidgetPose(const String &id) const
+
+    :param id: The id of the widget whose pose will be returned.
+
+viz::Viz3d::setCamera
+---------------------
+Sets the intrinsic parameters of the viewer using Camera.
+
+.. ocv:function:: void setCamera(const Camera &camera)
+
+    :param camera: Camera object wrapping intrinsinc parameters.
+
+viz::Viz3d::getCamera
+---------------------
+Returns a camera object that contains intrinsic parameters of the current viewer.
+
+.. ocv:function:: Camera getCamera() const
+
+viz::Viz3d::getViewerPose
+-------------------------
+Returns the current pose of the viewer.
+
+..ocv:function:: Affine3d getViewerPose()
+
+viz::Viz3d::setViewerPose
+-------------------------
+Sets pose of the viewer.
+
+.. ocv:function:: void setViewerPose(const Affine3d &pose)
+
+    :param pose: The new pose of the viewer.
+
+viz::Viz3d::resetCameraViewpoint
+--------------------------------
+Resets camera viewpoint to a 3D widget in the scene.
+
+.. ocv:function:: void resetCameraViewpoint (const String &id)
+
+    :param pose: Id of a 3D widget.
+
+viz::Viz3d::resetCamera
+-----------------------
+Resets camera.
+
+.. ocv:function:: void resetCamera()
+
+viz::Viz3d::convertToWindowCoordinates
+--------------------------------------
+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.
+
+viz::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.
+
+viz::Viz3d::getWindowSize
+-------------------------
+Returns the current size of the window.
+
+.. ocv:function:: Size getWindowSize() const
+
+viz::Viz3d::setWindowSize
+-------------------------
+Sets the size of the window.
+
+.. ocv:function:: void setWindowSize(const Size &window_size)
+
+    :param window_size: New size of the window.
+
+viz::Viz3d::getWindowName
+-------------------------
+Returns the name of the window which has been set in the constructor.
+
+.. ocv:function:: String getWindowName() const
+
+viz::Viz3d::saveScreenshot
+--------------------------
+Saves screenshot of the current scene.
+
+.. ocv:function:: void saveScreenshot(const String &file)
+
+    :param file: Name of the file.
+
+viz::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
+
+viz::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.
+
+viz::Viz3d::setBackgroundColor
+------------------------------
+Sets background color.
+
+.. ocv:function:: void setBackgroundColor(const Color& color = Color::black())
+
+viz::Viz3d::spin
+----------------
+The window renders and starts the event loop.
+
+.. ocv:function:: void spin()
+
+viz::Viz3d::spinOnce
+--------------------
+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.
+
+viz::Viz3d::wasStopped
+----------------------
+Returns whether the event loop has been stopped.
+
+.. ocv:function:: bool wasStopped()
+
+viz::Viz3d::registerKeyboardCallback
+------------------------------------
+Sets keyboard handler.
+
+.. ocv:function:: void registerKeyboardCallback(KeyboardCallback callback, void* cookie = 0)
+
+    :param callback: Keyboard callback ``(void (*KeyboardCallbackFunction(const KeyboardEvent&, void*))``.
+    :param cookie: The optional parameter passed to the callback.
+
+viz::Viz3d::registerMouseCallback
+---------------------------------
+Sets mouse handler.
+
+.. ocv:function:: void registerMouseCallback(MouseCallback callback, void* cookie = 0)
+
+    :param callback: Mouse callback ``(void (*MouseCallback)(const MouseEvent&, void*))``.
+    :param cookie: The optional parameter passed to the callback.
+
+viz::Viz3d::setRenderingProperty
+--------------------------------
+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.
+
+    **Rendering property** can be one of the following:
+
+    * **POINT_SIZE**
+    * **OPACITY**
+    * **LINE_WIDTH**
+    * **FONT_SIZE**
+    * **REPRESENTATION**: Expected values are
+        * **REPRESENTATION_POINTS**
+        * **REPRESENTATION_WIREFRAME**
+        * **REPRESENTATION_SURFACE**
+    * **IMMEDIATE_RENDERING**:
+        * Turn on immediate rendering by setting the value to ``1``.
+        * Turn off immediate rendering by setting the value to ``0``.
+    * **SHADING**: Expected values are
+        * **SHADING_FLAT**
+        * **SHADING_GOURAUD**
+        * **SHADING_PHONG**
+
+viz::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.
+
+    **Rendering property** can be one of the following:
+
+    * **POINT_SIZE**
+    * **OPACITY**
+    * **LINE_WIDTH**
+    * **FONT_SIZE**
+    * **REPRESENTATION**: Expected values are
+        * **REPRESENTATION_POINTS**
+        * **REPRESENTATION_WIREFRAME**
+        * **REPRESENTATION_SURFACE**
+    * **IMMEDIATE_RENDERING**:
+        * Turn on immediate rendering by setting the value to ``1``.
+        * Turn off immediate rendering by setting the value to ``0``.
+    * **SHADING**: Expected values are
+        * **SHADING_FLAT**
+        * **SHADING_GOURAUD**
+        * **SHADING_PHONG**
+
+viz::Viz3d::setRepresentation
+-----------------------------
+Sets geometry representation of the widgets to surface, wireframe or points.
+
+.. ocv:function:: void setRepresentation(int representation)
+
+    :param representation: Geometry representation which can be one of the following:
+
+        * **REPRESENTATION_POINTS**
+        * **REPRESENTATION_WIREFRAME**
+        * **REPRESENTATION_SURFACE**
+
+viz::Color
+----------
+.. ocv:class:: 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);
+
+        Color(const Scalar& color);
+
+        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 gray();
+    };
+
+viz::Mesh
+-----------
+.. ocv:class:: Mesh
+
+This class wraps mesh attributes, and it can load a mesh from a ``ply`` file. ::
+
+    class CV_EXPORTS Mesh
+    {
+    public:
+
+        Mat cloud, colors, normals;
+
+        //! Raw integer list of the form: (n,id1,id2,...,idn, n,id1,id2,...,idn, ...)
+        //! where n is the number of points in the poligon, and id is a zero-offset index into an associated cloud.
+        Mat polygons;
+
+        //! Loads mesh from a given ply file
+        static Mesh load(const String& file);
+    };
+
+viz::Mesh::load
+---------------------
+Loads a mesh from a ``ply`` file.
+
+.. ocv:function:: static Mesh load(const String& file)
+
+    :param file: File name (for no only PLY is supported)
+
+
+viz::KeyboardEvent
+------------------
+.. ocv:class:: KeyboardEvent
+
+This class represents a keyboard event. ::
+
+    class CV_EXPORTS KeyboardEvent
+    {
+    public:
+        enum { ALT = 1, CTRL = 2, SHIFT = 4 };
+        enum Action { KEY_UP = 0, KEY_DOWN = 1 };
+
+        KeyboardEvent(Action action, const String& symbol, unsigned char code, int modifiers);
+
+        Action action;
+        String symbol;
+        unsigned char code;
+        int modifiers;
+    };
+
+viz::KeyboardEvent::KeyboardEvent
+---------------------------------
+Constructs a KeyboardEvent.
+
+.. ocv:function:: KeyboardEvent (Action action, const String& symbol, unsigned char code, Modifiers modifiers)
+
+    :param action: Signals if key is pressed or released.
+    :param symbol: Name of the key.
+    :param code: Code of the key.
+    :param modifiers: Signals if ``alt``, ``ctrl`` or ``shift`` are pressed or their combination.
+
+
+viz::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 } ;
+
+        MouseEvent(const Type& type, const MouseButton& button, const Point& pointer, int modifiers);
+
+        Type type;
+        MouseButton button;
+        Point pointer;
+        int modifiers;
+    };
+
+viz::MouseEvent::MouseEvent
+---------------------------
+Constructs a MouseEvent.
+
+.. ocv:function:: MouseEvent (const Type& type, const MouseButton& button, const Point& p, Modifiers modifiers)
+
+    :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 modifiers: Signals if ``alt``, ``ctrl`` or ``shift`` are pressed or their combination.
+
+viz::Camera
+-----------
+.. ocv:class:: Camera
+
+This class wraps intrinsic parameters of a camera. It provides several constructors
+that can extract the intrinsic parameters from ``field of view``, ``intrinsic matrix`` and
+``projection matrix``. ::
+
+    class CV_EXPORTS Camera
+    {
+    public:
+        Camera(double f_x, double f_y, double c_x, double c_y, const Size &window_size);
+        Camera(const Vec2d &fov, const Size &window_size);
+        Camera(const Matx33d &K, const Size &window_size);
+        Camera(const Matx44d &proj, const Size &window_size);
+
+        inline const Vec2d & getClip() const;
+        inline void setClip(const Vec2d &clip);
+
+        inline const Size & getWindowSize() const;
+        void setWindowSize(const Size &window_size);
+
+        inline const Vec2d & getFov() const;
+        inline void setFov(const Vec2d & fov);
+
+        inline const Vec2d & getPrincipalPoint() const;
+        inline const Vec2d & getFocalLength() const;
+
+        void computeProjectionMatrix(Matx44d &proj) const;
+
+        static Camera KinectCamera(const Size &window_size);
+
+    private:
+        /* hidden */
+    };
+
+viz::Camera::Camera
+-------------------
+Constructs a Camera.
+
+.. ocv:function:: Camera(double f_x, double f_y, double c_x, double 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.
+
+.. ocv:function:: Camera(const Vec2d &fov, const Size &window_size)
+
+    :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.
+
+.. ocv:function:: Camera(const Matx33d &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.
+
+.. ocv:function:: Camera(const Matx44d &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.
+
+viz::Camera::computeProjectionMatrix
+------------------------------------
+Computes projection matrix using intrinsic parameters of the camera.
+
+.. ocv:function:: void computeProjectionMatrix(Matx44d &proj) const
+
+    :param proj: Output projection matrix.
+
+viz::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.
diff --git a/modules/viz/doc/widget.rst b/modules/viz/doc/widget.rst
new file mode 100644
index 0000000000..008e0e68a5
--- /dev/null
+++ b/modules/viz/doc/widget.rst
@@ -0,0 +1,1019 @@
+Widget
+======
+
+.. highlight:: cpp
+
+In this section, the widget framework is explained. Widgets represent
+2D or 3D objects, varying from simple ones such as lines to complex one such as
+point clouds and meshes.
+
+Widgets are **implicitly shared**. Therefore, one can add a widget to the scene,
+and modify the widget without re-adding the widget.
+
+.. code-block:: cpp
+
+    ...
+    /// Create a cloud widget
+    viz::WCloud cw(cloud, viz::Color::red());
+    /// Display it in a window
+    myWindow.showWidget("CloudWidget1", cw);
+    /// Modify it, and it will be modified in the window.
+    cw.setColor(viz::Color::yellow());
+    ...
+
+viz::Widget
+-----------
+.. ocv:class:: 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 */
+    };
+
+viz::Widget::fromPlyFile
+------------------------
+Creates a widget from ply file.
+
+.. ocv:function:: static Widget fromPlyFile(const String &file_name)
+
+    :param file_name: Ply file name.
+
+viz::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.
+
+    **Rendering property** can be one of the following:
+
+    * **POINT_SIZE**
+    * **OPACITY**
+    * **LINE_WIDTH**
+    * **FONT_SIZE**
+    * **REPRESENTATION**: Expected values are
+        * **REPRESENTATION_POINTS**
+        * **REPRESENTATION_WIREFRAME**
+        * **REPRESENTATION_SURFACE**
+    * **IMMEDIATE_RENDERING**:
+        * Turn on immediate rendering by setting the value to ``1``.
+        * Turn off immediate rendering by setting the value to ``0``.
+    * **SHADING**: Expected values are
+        * **SHADING_FLAT**
+        * **SHADING_GOURAUD**
+        * **SHADING_PHONG**
+
+viz::Widget::getRenderingProperty
+---------------------------------
+Returns rendering property of the widget.
+
+.. ocv:function:: double getRenderingProperty(int property) const
+
+    :param property: Property.
+
+    **Rendering property** can be one of the following:
+
+    * **POINT_SIZE**
+    * **OPACITY**
+    * **LINE_WIDTH**
+    * **FONT_SIZE**
+    * **REPRESENTATION**: Expected values are
+        * **REPRESENTATION_POINTS**
+        * **REPRESENTATION_WIREFRAME**
+        * **REPRESENTATION_SURFACE**
+    * **IMMEDIATE_RENDERING**:
+        * Turn on immediate rendering by setting the value to ``1``.
+        * Turn off immediate rendering by setting the value to ``0``.
+    * **SHADING**: Expected values are
+        * **SHADING_FLAT**
+        * **SHADING_GOURAUD**
+        * **SHADING_PHONG**
+
+viz::Widget::cast
+-----------------
+Casts a widget to another.
+
+.. ocv:function:: template<typename _W> _W cast()
+
+.. code-block:: cpp
+
+    // Create a sphere widget
+    viz::WSphere sw(Point3f(0.0f,0.0f,0.0f), 0.5f);
+    // Cast sphere widget to cloud widget
+    viz::WCloud cw = sw.cast<viz::WCloud>();
+
+.. note:: 3D Widgets can only be cast to 3D Widgets. 2D Widgets can only be cast to 2D Widgets.
+
+viz::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);
+    };
+
+viz::WidgetAccessor::getProp
+----------------------------
+Returns ``vtkProp`` of a given widget.
+
+.. ocv:function:: static vtkSmartPointer<vtkProp> getProp(const Widget &widget)
+
+    :param widget: Widget whose ``vtkProp`` is to be returned.
+
+.. note:: vtkProp has to be down cast appropriately to be modified.
+
+    .. code-block:: cpp
+
+        vtkActor * actor = vtkActor::SafeDownCast(viz::WidgetAccessor::getProp(widget));
+
+viz::WidgetAccessor::setProp
+----------------------------
+Sets ``vtkProp`` of a given widget.
+
+.. ocv:function:: static void setProp(Widget &widget, vtkSmartPointer<vtkProp> prop)
+
+    :param widget: Widget whose ``vtkProp`` is to be set.
+    :param prop: A ``vtkProp``.
+
+viz::Widget3D
+-------------
+.. ocv:class:: Widget3D
+
+Base class of all 3D widgets. ::
+
+    class CV_EXPORTS Widget3D : public Widget
+    {
+    public:
+        Widget3D() {}
+
+        //! widget position manipulation, i.e. place where it is rendered.
+        void setPose(const Affine3d &pose);
+        void updatePose(const Affine3d &pose);
+        Affine3d getPose() const;
+
+        //! updates internal widget data, i.e. points, normals, etc.
+        void applyTransform(const Affine3d &transform);
+
+        void setColor(const Color &color);
+
+    };
+
+viz::Widget3D::setPose
+----------------------
+Sets pose of the widget.
+
+.. ocv:function:: void setPose(const Affine3d &pose)
+
+    :param pose: The new pose of the widget.
+
+viz::Widget3D::updateWidgetPose
+-------------------------------
+Updates pose of the widget by pre-multiplying its current pose.
+
+.. ocv:function:: void updateWidgetPose(const Affine3d &pose)
+
+    :param pose: The pose that the current pose of the widget will be pre-multiplied by.
+
+viz::Widget3D::getPose
+----------------------
+Returns the current pose of the widget.
+
+.. ocv:function:: Affine3d getWidgetPose() const
+
+
+viz::Widget3D::applyTransform
+-------------------------------
+Transforms internal widget data (i.e. points, normals) using the given transform.
+
+.. ocv:function::  void applyTransform(const Affine3d &transform)
+
+    :param transform: Specified transformation to apply.
+
+viz::Widget3D::setColor
+-----------------------
+Sets the color of the widget.
+
+.. ocv:function:: void setColor(const Color &color)
+
+    :param color: color of type :ocv:class:`Color`
+
+viz::Widget2D
+-------------
+.. ocv:class:: Widget2D
+
+Base class of all 2D widgets. ::
+
+    class CV_EXPORTS Widget2D : public Widget
+    {
+    public:
+        Widget2D() {}
+
+        void setColor(const Color &color);
+    };
+
+viz::Widget2D::setColor
+-----------------------
+Sets the color of the widget.
+
+.. ocv:function:: void setColor(const Color &color)
+
+    :param color: color of type :ocv:class:`Color`
+
+viz::WLine
+----------
+.. ocv:class:: WLine
+
+This 3D Widget defines a finite line. ::
+
+    class CV_EXPORTS WLine : public Widget3D
+    {
+    public:
+        WLine(const Point3f &pt1, const Point3f &pt2, const Color &color = Color::white());
+    };
+
+viz::WLine::WLine
+-----------------
+Constructs a WLine.
+
+.. ocv:function:: WLine(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: :ocv:class:`Color` of the line.
+
+viz::WPlane
+-----------
+.. ocv:class:: WPlane
+
+This 3D Widget defines a finite plane. ::
+
+    class CV_EXPORTS WPlane : public Widget3D
+    {
+    public:
+        //! created default plane with center point at origin and normal oriented along z-axis
+        WPlane(const Size2d& size = Size2d(1.0, 1.0), const Color &color = Color::white());
+
+        //! repositioned plane
+        WPlane(const Point3d& center, const Vec3d& normal, const Vec3d& new_plane_yaxis,const Size2d& size = Size2d(1.0, 1.0), const Color &color = Color::white());
+    };
+
+viz::WPlane::WPlane
+-------------------
+Constructs a default plane with center point at origin and normal oriented along z-axis.
+
+.. ocv:function:: WPlane(const Size2d& size = Size2d(1.0, 1.0), const Color &color = Color::white())
+
+    :param size: Size of the plane
+    :param color: :ocv:class:`Color` of the plane.
+
+viz::WPlane::WPlane
+-------------------
+Constructs a repositioned plane
+
+.. ocv:function:: WPlane(const Point3d& center, const Vec3d& normal, const Vec3d& new_yaxis,const Size2d& size = Size2d(1.0, 1.0), const Color &color = Color::white())
+
+    :param center: Center of the plane
+    :param normal: Plane normal orientation
+    :param new_yaxis: Up-vector. New orientation of plane y-axis.
+    :param color: :ocv:class:`Color` of the plane.
+
+viz::WSphere
+------------
+.. ocv:class:: WSphere
+
+This 3D Widget defines a sphere. ::
+
+    class CV_EXPORTS WSphere : public Widget3D
+    {
+    public:
+        WSphere(const cv::Point3f &center, double radius, int sphere_resolution = 10, const Color &color = Color::white())
+    };
+
+viz::WSphere::WSphere
+---------------------
+Constructs a WSphere.
+
+.. ocv:function:: WSphere(const cv::Point3f &center, double 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: :ocv:class:`Color` of the sphere.
+
+viz::WArrow
+----------------
+.. ocv:class:: WArrow
+
+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());
+    };
+
+viz::WArrow::WArrow
+-----------------------------
+Constructs an WArrow.
+
+.. ocv:function:: WArrow(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: :ocv:class:`Color` of the arrow.
+
+Arrow head is located at the end point of the arrow.
+
+viz::WCircle
+-----------------
+.. ocv:class:: WCircle
+
+This 3D Widget defines a circle. ::
+
+    class CV_EXPORTS WCircle : public Widget3D
+    {
+    public:
+        //! creates default planar circle centred at origin with plane normal along z-axis
+        WCircle(double radius, double thickness = 0.01, const Color &color = Color::white());
+
+        //! creates repositioned circle
+        WCircle(double radius, const Point3d& center, const Vec3d& normal, double thickness = 0.01, const Color &color = Color::white());
+    };
+
+viz::WCircle::WCircle
+-------------------------------
+Constructs default planar circle centred at origin with plane normal along z-axis
+
+.. ocv:function:: WCircle(double radius, double thickness = 0.01, const Color &color = Color::white())
+
+    :param radius: Radius of the circle.
+    :param thickness: Thickness of the circle.
+    :param color: :ocv:class:`Color` of the circle.
+
+viz::WCircle::WCircle
+-------------------------------
+Constructs repositioned planar circle.
+
+.. ocv:function:: WCircle(double radius, const Point3d& center, const Vec3d& normal, double thickness = 0.01, const Color &color = Color::white())
+
+    :param radius: Radius of the circle.
+    :param center: Center of the circle.
+    :param normal: Normal of the plane in which the circle lies.
+    :param thickness: Thickness of the circle.
+    :param color: :ocv:class:`Color` of the circle.
+
+viz::WCone
+-------------------------------
+.. ocv:class:: WCone
+
+This 3D Widget defines a cone. ::
+
+    class CV_EXPORTS WCone : public Widget3D
+    {
+    public:
+        //! create default cone, oriented along x-axis with center of its base located at origin
+        WCone(double lenght, double radius, int resolution = 6.0, const Color &color = Color::white());
+
+        //! creates repositioned cone
+        WCone(double radius, const Point3d& center, const Point3d& tip, int resolution = 6.0, const Color &color = Color::white());
+    };
+
+viz::WCone::WCone
+-------------------------------
+Constructs default cone oriented along x-axis with center of its base located at origin
+
+.. ocv:function:: WCone(double length, double radius, int resolution = 6.0, const Color &color = Color::white())
+
+    :param length: Length of the cone.
+    :param radius: Radius of the cone.
+    :param resolution: Resolution of the cone.
+    :param color: :ocv:class:`Color` of the cone.
+
+viz::WCone::WCone
+-------------------------------
+Constructs repositioned planar cone.
+
+.. ocv:function:: WCone(double radius, const Point3d& center, const Point3d& tip, int resolution = 6.0, const Color &color = Color::white())
+
+    :param radius: Radius of the cone.
+    :param center: Center of the cone base.
+    :param tip: Tip of the cone.
+    :param resolution: Resolution of the cone.
+    :param color: :ocv:class:`Color` of the cone.
+
+viz::WCylinder
+--------------
+.. ocv:class:: WCylinder
+
+This 3D Widget defines a cylinder. ::
+
+    class CV_EXPORTS WCylinder : public Widget3D
+    {
+    public:
+        WCylinder(const Point3d& axis_point1, const Point3d& axis_point2, double 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())
+
+    :param axis_point1: A point1 on the axis of the cylinder.
+    :param axis_point2: A point2 on the axis of the cylinder.
+    :param radius: Radius of the cylinder.
+    :param numsides: Resolution of the cylinder.
+    :param color: :ocv:class:`Color` of the cylinder.
+
+viz::WCube
+----------
+.. ocv:class:: WCube
+
+This 3D Widget defines a cube. ::
+
+    class CV_EXPORTS WCube : public Widget3D
+    {
+    public:
+        WCube(const Point3f& pt_min, const Point3f& pt_max, bool wire_frame = true, const Color &color = Color::white());
+    };
+
+viz::WCube::WCube
+---------------------------
+Constructs a WCube.
+
+.. ocv:function:: WCube(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: :ocv:class:`Color` of the cube.
+
+.. image:: images/cube_widget.png
+    :alt: Cube Widget
+    :align: center
+
+viz::WCoordinateSystem
+----------------------
+.. ocv:class:: WCoordinateSystem
+
+This 3D Widget represents a coordinate system. ::
+
+    class CV_EXPORTS WCoordinateSystem : public Widget3D
+    {
+    public:
+        WCoordinateSystem(double scale = 1.0);
+    };
+
+viz::WCoordinateSystem::WCoordinateSystem
+---------------------------------------------------
+Constructs a WCoordinateSystem.
+
+.. ocv:function:: WCoordinateSystem(double scale = 1.0)
+
+    :param scale: Determines the size of the axes.
+
+viz::WPolyLine
+--------------
+.. ocv:class:: WPolyLine
+
+This 3D Widget defines a poly line. ::
+
+    class CV_EXPORTS WPolyLine : public Widget3D
+    {
+    public:
+        WPolyLine(InputArray points, const Color &color = Color::white());
+    };
+
+viz::WPolyLine::WPolyLine
+-----------------------------------
+Constructs a WPolyLine.
+
+.. ocv:function:: WPolyLine(InputArray points, const Color &color = Color::white())
+
+    :param points: Point set.
+    :param color: :ocv:class:`Color` of the poly line.
+
+viz::WGrid
+----------
+.. ocv:class:: WGrid
+
+This 3D Widget defines a grid. ::
+
+    class CV_EXPORTS WGrid : public Widget3D
+    {
+    public:
+        //! Creates grid at the origin and normal oriented along z-axis
+        WGrid(const Vec2i &cells = Vec2i::all(10), const Vec2d &cells_spacing = Vec2d::all(1.0), const Color &color = Color::white());
+
+        //! Creates repositioned grid
+        WGrid(const Point3d& center, const Vec3d& normal, const Vec3d& new_yaxis,
+              const Vec2i &cells = Vec2i::all(10), const Vec2d &cells_spacing = Vec2d::all(1.0), const Color &color = Color::white());
+    };
+
+viz::WGrid::WGrid
+---------------------------
+Constructs a WGrid.
+
+.. ocv:function::  WGrid(const Vec2i &cells = Vec2i::all(10), const Vec2d &cells_spacing = Vec2d::all(1.0), const Color &color = Color::white())
+
+    :param cells: Number of cell columns and rows, respectively.
+    :param cells_spacing: Size of each cell, respectively.
+    :param color: :ocv:class:`Color` of the grid.
+
+.. ocv:function:  WGrid(const Point3d& center, const Vec3d& normal, const Vec3d& new_yaxis, Vec2i &cells, const Vec2d &cells_spacing, const Color &color;
+
+    :param center: Center of the grid
+    :param normal: Grid normal orientation
+    :param new_yaxis: Up-vector. New orientation of grid y-axis.
+    :param cells: Number of cell columns and rows, respectively.
+    :param cells_spacing: Size of each cell, respectively.
+    :param color: :ocv:class:`Color` of the grid..
+
+viz::WText3D
+------------
+.. ocv:class:: WText3D
+
+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, bool face_camera = true, const Color &color = Color::white());
+
+        void setText(const String &text);
+        String getText() const;
+    };
+
+viz::WText3D::WText3D
+-------------------------------
+Constructs a WText3D.
+
+.. ocv:function:: WText3D(const String &text, const Point3f &position, double 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.
+    :param text_scale: Size of the text.
+    :param face_camera: If true, text always faces the camera.
+    :param color: :ocv:class:`Color` of the text.
+
+viz::WText3D::setText
+---------------------
+Sets the text content of the widget.
+
+.. ocv:function:: void setText(const String &text)
+
+    :param text: Text content of the widget.
+
+viz::WText3D::getText
+---------------------
+Returns the current text content of the widget.
+
+.. ocv:function:: String getText() const
+
+viz::WText
+----------
+.. ocv:class:: WText
+
+This 2D Widget represents text overlay. ::
+
+    class CV_EXPORTS WText : public Widget2D
+    {
+    public:
+        WText(const String &text, const Point2i &pos, int font_size = 10, const Color &color = Color::white());
+
+        void setText(const String &text);
+        String getText() const;
+    };
+
+viz::WText::WText
+-----------------
+Constructs a WText.
+
+.. ocv:function:: WText(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: :ocv:class:`Color` of the text.
+
+viz::WText::setText
+-------------------
+Sets the text content of the widget.
+
+.. ocv:function:: void setText(const String &text)
+
+    :param text: Text content of the widget.
+
+viz::WText::getText
+-------------------
+Returns the current text content of the widget.
+
+.. ocv:function:: String getText() const
+
+viz::WImageOverlay
+------------------
+.. ocv:class:: WImageOverlay
+
+This 2D Widget represents an image overlay. ::
+
+    class CV_EXPORTS WImageOverlay : public Widget2D
+    {
+    public:
+        WImageOverlay(InputArray image, const Rect &rect);
+
+        void setImage(InputArray image);
+    };
+
+viz::WImageOverlay::WImageOverlay
+---------------------------------
+Constructs an WImageOverlay.
+
+.. ocv:function:: WImageOverlay(InputArray image, const Rect &rect)
+
+    :param image: BGR or Gray-Scale image.
+    :param rect: Image is scaled and positioned based on rect.
+
+viz::WImageOverlay::setImage
+----------------------------
+Sets the image content of the widget.
+
+.. ocv:function:: void setImage(InputArray image)
+
+    :param image: BGR or Gray-Scale image.
+
+viz::WImage3D
+-------------
+.. ocv:class:: WImage3D
+
+This 3D Widget represents an image in 3D space. ::
+
+    class CV_EXPORTS WImage3D : public Widget3D
+    {
+    public:
+        //! Creates 3D image at the origin
+        WImage3D(InputArray image, const Size2d &size);
+        //! Creates 3D image at a given position, pointing in the direction of the normal, and having the up_vector orientation
+        WImage3D(InputArray image, const Size2d &size, const Vec3d &position, const Vec3d &normal, const Vec3d &up_vector);
+
+        void setImage(InputArray image);
+    };
+
+viz::WImage3D::WImage3D
+-----------------------
+Constructs an WImage3D.
+
+.. ocv:function:: WImage3D(InputArray image, const Size2d &size)
+
+    :param image: BGR or Gray-Scale image.
+    :param size: Size of the image.
+
+.. ocv:function:: WImage3D(InputArray image, const Size2d &size, const Vec3d &position, const Vec3d &normal, const Vec3d &up_vector)
+
+    :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.
+
+viz::WImage3D::setImage
+-----------------------
+Sets the image content of the widget.
+
+.. ocv:function:: void setImage(InputArray image)
+
+    :param image: BGR or Gray-Scale image.
+
+viz::WCameraPosition
+--------------------
+.. ocv:class:: WCameraPosition
+
+This 3D Widget represents camera position in a scene by its axes or viewing frustum. ::
+
+    class CV_EXPORTS WCameraPosition : public Widget3D
+    {
+    public:
+        //! Creates camera coordinate frame (axes) at the origin
+        WCameraPosition(double scale = 1.0);
+        //! Creates frustum based on the intrinsic marix K at the origin
+        WCameraPosition(const Matx33d &K, double scale = 1.0, const Color &color = Color::white());
+        //! Creates frustum based on the field of view at the origin
+        WCameraPosition(const Vec2d &fov, double scale = 1.0, const Color &color = Color::white());
+        //! Creates frustum and display given image at the far plane
+        WCameraPosition(const Matx33d &K, InputArray image, double scale = 1.0, const Color &color = Color::white());
+        //! Creates frustum and display given image at the far plane
+        WCameraPosition(const Vec2d &fov, InputArray image, double scale = 1.0, const Color &color = Color::white());
+    };
+
+viz::WCameraPosition::WCameraPosition
+-------------------------------------
+Constructs a WCameraPosition.
+
+- **Display camera coordinate frame.**
+
+    .. ocv:function:: WCameraPosition(double scale = 1.0)
+
+        Creates camera coordinate frame at the origin.
+
+    .. image:: images/cpw1.png
+        :alt: Camera coordinate frame
+        :align: center
+
+- **Display the viewing frustum.**
+
+    .. ocv:function:: WCameraPosition(const Matx33d &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: :ocv:class:`Color` of the frustum.
+
+        Creates viewing frustum of the camera based on its intrinsic matrix K.
+
+    .. ocv:function:: WCameraPosition(const Vec2d &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: :ocv:class:`Color` of the frustum.
+
+        Creates viewing frustum of the camera based on its field of view fov.
+
+    .. image:: images/cpw2.png
+        :alt: Camera viewing frustum
+        :align: center
+
+- **Display image on the far plane of the viewing frustum.**
+
+    .. ocv:function:: WCameraPosition(const Matx33d &K, InputArray image, 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 on the far plane of the frustum.
+        :param scale: Scale of the frustum and image.
+        :param color: :ocv:class:`Color` of the frustum.
+
+        Creates viewing frustum of the camera based on its intrinsic matrix K, and displays image on the far end plane.
+
+    .. ocv:function:: WCameraPosition(const Vec2d &fov, InputArray image, double 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.
+        :param scale: Scale of the frustum and image.
+        :param color: :ocv:class:`Color` of the frustum.
+
+        Creates viewing frustum of the camera based on its intrinsic matrix K, and displays image on the far end plane.
+
+    .. image:: images/cpw3.png
+        :alt: Camera viewing frustum with image
+        :align: center
+
+viz::WTrajectory
+----------------
+.. ocv:class:: WTrajectory
+
+This 3D Widget represents a trajectory. ::
+
+    class CV_EXPORTS WTrajectory : public Widget3D
+    {
+    public:
+        enum {FRAMES = 1, PATH = 2, BOTH = FRAMES + PATH};
+
+        //! Displays trajectory of the given path either by coordinate frames or polyline
+        WTrajectory(InputArray path, int display_mode = WTrajectory::PATH, double scale = 1.0, const Color &color = Color::white(),;
+    };
+
+viz::WTrajectory::WTrajectory
+-----------------------------
+Constructs a WTrajectory.
+
+.. ocv:function:: WTrajectory(InputArray path, int display_mode = WTrajectory::PATH, double scale = 1.0, const Color &color = Color::white())
+
+    :param path: List of poses on a trajectory. Takes std::vector<Affine<T>> with T == [float | double]
+    :param display_mode: Display mode. This can be PATH, FRAMES, and BOTH.
+    :param scale: Scale of the frames. Polyline is not affected.
+    :param color: :ocv:class:`Color` of the polyline that represents path. Frames are not affected.
+
+    Displays trajectory of the given path as follows:
+
+    * PATH : Displays a poly line that represents the path.
+    * FRAMES : Displays coordinate frames at each pose.
+    * PATH & FRAMES : Displays both poly line and coordinate frames.
+
+viz::WTrajectoryFrustums
+------------------------
+.. ocv:class:: WTrajectoryFrustums
+
+This 3D Widget represents a trajectory. ::
+
+    class CV_EXPORTS WTrajectoryFrustums : public Widget3D
+    {
+    public:
+        //! Displays trajectory of the given path by frustums
+        WTrajectoryFrustums(InputArray path, const Matx33d &K, double scale = 1.0, const Color &color = Color::white());
+        //! Displays trajectory of the given path by frustums
+        WTrajectoryFrustums(InputArray path, const Vec2d &fov, double scale = 1.0, const Color &color = Color::white());
+    };
+
+viz::WTrajectoryFrustums::WTrajectoryFrustums
+---------------------------------------------
+Constructs a WTrajectoryFrustums.
+
+.. ocv:function:: WTrajectoryFrustums(const std::vector<Affine3d> &path, const Matx33d &K, double scale = 1.0, const Color &color = Color::white())
+
+    :param path: List of poses on a trajectory. Takes std::vector<Affine<T>> with T == [float | double]
+    :param K: Intrinsic matrix of the camera.
+    :param scale: Scale of the frustums.
+    :param color: :ocv:class:`Color` of the frustums.
+
+    Displays frustums at each pose of the trajectory.
+
+.. ocv:function:: WTrajectoryFrustums(const std::vector<Affine3d> &path, const Vec2d &fov, double scale = 1.0, const Color &color = Color::white())
+
+    :param path: List of poses on a trajectory. Takes std::vector<Affine<T>> with T == [float | double]
+    :param fov: Field of view of the camera (horizontal, vertical).
+    :param scale: Scale of the frustums.
+    :param color: :ocv:class:`Color` of the frustums.
+
+    Displays frustums at each pose of the trajectory.
+
+viz::WTrajectorySpheres
+-----------------------
+.. ocv:class:: WTrajectorySpheres
+
+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 WTrajectorySpheres : public Widget3D
+    {
+    public:
+        WTrajectorySpheres(InputArray path, double line_length = 0.05, double radius = 0.007,
+                               const Color &from = Color::red(), const Color &to = Color::white());
+    };
+
+viz::WTrajectorySpheres::WTrajectorySpheres
+-------------------------------------------
+Constructs a WTrajectorySpheres.
+
+.. ocv:function:: WTrajectorySpheres(InputArray path, double line_length = 0.05, double radius = 0.007, const Color &from = Color::red(), const Color &to = Color::white())
+
+    :param path: List of poses on a trajectory. Takes std::vector<Affine<T>> with T == [float | double]
+    :param line_length: Max length of the lines which point to previous position
+    :param sphere_radius: Radius of the spheres.
+    :param from: :ocv:class:`Color` for first sphere.
+    :param to: :ocv:class:`Color` for last sphere. Intermediate spheres will have interpolated color.
+
+viz::WCloud
+-----------
+.. ocv:class:: WCloud
+
+This 3D Widget defines a point cloud. ::
+
+    class CV_EXPORTS WCloud : public Widget3D
+    {
+    public:
+        //! Each point in cloud is mapped to a color in colors
+        WCloud(InputArray cloud, InputArray colors);
+        //! All points in cloud have the same color
+        WCloud(InputArray cloud, const Color &color = Color::white());
+    };
+
+viz::WCloud::WCloud
+-------------------
+Constructs a WCloud.
+
+.. ocv:function:: WCloud(InputArray cloud, InputArray colors)
+
+    :param cloud: Set of points 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:: WCloud(InputArray cloud, const Color &color = Color::white())
+
+    :param cloud: Set of points which can be of type: ``CV_32FC3``, ``CV_32FC4``, ``CV_64FC3``, ``CV_64FC4``.
+    :param color: A single :ocv:class:`Color` for the whole cloud.
+
+    Points in the cloud belong to mask when they are set to (NaN, NaN, NaN).
+
+.. note:: In case there are four channels in the cloud, fourth channel is ignored.
+
+viz::WCloudCollection
+---------------------
+.. ocv:class:: WCloudCollection
+
+This 3D Widget defines a collection of clouds. ::
+
+    class CV_EXPORTS WCloudCollection : public Widget3D
+    {
+    public:
+        WCloudCollection();
+
+        //! Each point in cloud is mapped to a color in colors
+        void addCloud(InputArray cloud, InputArray colors, const Affine3d &pose = Affine3d::Identity());
+        //! All points in cloud have the same color
+        void addCloud(InputArray cloud, const Color &color = Color::white(), Affine3d &pose = Affine3d::Identity());
+    };
+
+viz::WCloudCollection::WCloudCollection
+---------------------------------------
+Constructs a WCloudCollection.
+
+.. ocv:function:: WCloudCollection()
+
+viz::WCloudCollection::addCloud
+-------------------------------
+Adds a cloud to the collection.
+
+.. ocv:function:: void addCloud(InputArray cloud, InputArray colors, const Affine3d &pose = Affine3d::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).
+
+.. ocv:function:: void addCloud(InputArray cloud, const Color &color = Color::white(), const Affine3d &pose = Affine3d::Identity())
+
+    :param cloud: Point set which can be of type: ``CV_32FC3``, ``CV_32FC4``, ``CV_64FC3``, ``CV_64FC4``.
+    :param colors: A single :ocv:class:`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).
+
+.. note:: In case there are four channels in the cloud, fourth channel is ignored.
+
+viz::WCloudNormals
+------------------
+.. ocv:class:: WCloudNormals
+
+This 3D Widget represents normals of a point cloud. ::
+
+    class CV_EXPORTS WCloudNormals : public Widget3D
+    {
+    public:
+        WCloudNormals(InputArray cloud, InputArray normals, int level = 100, double scale = 0.02f, const Color &color = Color::white());
+    };
+
+viz::WCloudNormals::WCloudNormals
+---------------------------------
+Constructs a WCloudNormals.
+
+.. ocv:function:: WCloudNormals(InputArray cloud, InputArray normals, int level = 100, double 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 ``level`` th normal.
+    :param scale: Scale of the arrows that represent normals.
+    :param color: :ocv:class:`Color` of the arrows that represent normals.
+
+.. note:: In case there are four channels in the cloud, fourth channel is ignored.
+
+viz::WMesh
+----------
+.. ocv:class:: WMesh
+
+This 3D Widget defines a mesh. ::
+
+    class CV_EXPORTS WMesh : public Widget3D
+    {
+    public:
+        WMesh(const Mesh &mesh);
+        WMesh(InputArray cloud, InputArray polygons, InputArray colors = noArray(), InputArray normals = noArray());
+    };
+
+viz::WMesh::WMesh
+-----------------
+Constructs a WMesh.
+
+.. ocv:function:: WMesh(const Mesh &mesh)
+
+    :param mesh: :ocv:class:`Mesh` object that will be displayed.
+
+.. ocv:function:: WMesh(InputArray cloud, InputArray polygons, InputArray colors = noArray(), InputArray normals = noArray())
+
+    :param cloud: Points of the mesh object.
+    :param polygons: Points of the mesh object.
+    :param colors: Point colors.
+    :param normals: Point normals.
diff --git a/modules/viz/include/opencv2/viz/types.hpp b/modules/viz/include/opencv2/viz/types.hpp
new file mode 100644
index 0000000000..acbece2edf
--- /dev/null
+++ b/modules/viz/include/opencv2/viz/types.hpp
@@ -0,0 +1,236 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+// Authors:
+//  * Ozan Tonkal, ozantonkal@gmail.com
+//  * Anatoly Baksheev, Itseez Inc.  myname.mysurname <> mycompany.com
+//
+//M*/
+
+#ifndef __OPENCV_VIZ_TYPES_HPP__
+#define __OPENCV_VIZ_TYPES_HPP__
+
+#include <string>
+#include <opencv2/core/core.hpp>
+#include <opencv2/core/affine.hpp>
+
+namespace cv
+{
+    namespace viz
+    {
+        class Color : public Scalar
+        {
+        public:
+            Color();
+            Color(double gray);
+            Color(double blue, double green, double red);
+
+            Color(const Scalar& color);
+
+            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 gray();
+
+            static Color mlab();
+
+            static Color navy();
+            static Color olive();
+            static Color maroon();
+            static Color teal();
+            static Color rose();
+            static Color azure();
+            static Color lime();
+            static Color gold();
+            static Color brown();
+            static Color orange();
+            static Color chartreuse();
+            static Color orange_red();
+            static Color purple();
+            static Color indigo();
+
+            static Color pink();
+            static Color cherry();
+            static Color bluberry();
+            static Color raspberry();
+            static Color silver();
+            static Color violet();
+            static Color apricot();
+            static Color turquoise();
+            static Color celestial_blue();
+            static Color amethyst();
+
+            static Color not_set();
+        };
+
+        class CV_EXPORTS Mesh
+        {
+        public:
+            Mat cloud, colors, normals;
+
+            //! Raw integer list of the form: (n,id1,id2,...,idn, n,id1,id2,...,idn, ...)
+            //! where n is the number of points in the poligon, and id is a zero-offset index into an associated cloud.
+            Mat polygons;
+
+            Mat texture, tcoords;
+
+            //! Loads mesh from a given ply file (no texture load support for now)
+            static Mesh load(const String& file);
+        };
+
+        class CV_EXPORTS Camera
+        {
+        public:
+            Camera(double fx, double fy, double cx, double cy, const Size &window_size);
+            explicit Camera(const Vec2d &fov, const Size &window_size);
+            explicit Camera(const Matx33d &K, const Size &window_size);
+            explicit Camera(const Matx44d &proj, const Size &window_size);
+
+            const Vec2d & getClip() const { return clip_; }
+            void setClip(const Vec2d &clip) { clip_ = clip; }
+
+            const Size & getWindowSize() const { return window_size_; }
+            void setWindowSize(const Size &window_size);
+
+            const Vec2d& getFov() const { return fov_; }
+            void setFov(const Vec2d& fov) { fov_ = fov; }
+
+            const Vec2d& getPrincipalPoint() const { return principal_point_; }
+            const Vec2d& getFocalLength() const { return focal_; }
+
+            void computeProjectionMatrix(Matx44d &proj) const;
+
+            static Camera KinectCamera(const Size &window_size);
+
+        private:
+            void init(double fx, double fy, double cx, double cy, const Size &window_size);
+
+            Vec2d clip_;
+            Vec2d fov_;
+            Size window_size_;
+            Vec2d principal_point_;
+            Vec2d focal_;
+        };
+
+        class CV_EXPORTS KeyboardEvent
+        {
+        public:
+            enum { NONE = 0, ALT = 1, CTRL = 2, SHIFT = 4 };
+            enum Action { KEY_UP = 0, KEY_DOWN = 1 };
+
+            KeyboardEvent(Action action, const String& symbol, unsigned char code, int modifiers);
+
+            Action action;
+            String symbol;
+            unsigned char code;
+            int modifiers;
+        };
+
+        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& pointer, int modifiers);
+
+            Type type;
+            MouseButton button;
+            Point pointer;
+            int modifiers;
+        };
+    } /* namespace viz */
+} /* 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 _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); }
+inline cv::viz::Color cv::viz::Color::green()   { return Color(  0, 255,   0); }
+inline cv::viz::Color cv::viz::Color::blue()    { return Color(255,   0,   0); }
+inline cv::viz::Color cv::viz::Color::cyan()    { return Color(255, 255,   0); }
+inline cv::viz::Color cv::viz::Color::red()     { return Color(  0,   0, 255); }
+inline cv::viz::Color cv::viz::Color::yellow()  { return Color(  0, 255, 255); }
+inline cv::viz::Color cv::viz::Color::magenta() { return Color(255,   0, 255); }
+inline cv::viz::Color cv::viz::Color::white()   { return Color(255, 255, 255); }
+inline cv::viz::Color cv::viz::Color::gray()    { return Color(128, 128, 128); }
+
+inline cv::viz::Color cv::viz::Color::mlab()    { return Color(255, 128, 128); }
+
+inline cv::viz::Color cv::viz::Color::navy()       { return Color(0,     0, 128); }
+inline cv::viz::Color cv::viz::Color::olive()      { return Color(0,   128, 128); }
+inline cv::viz::Color cv::viz::Color::maroon()     { return Color(0,     0, 128); }
+inline cv::viz::Color cv::viz::Color::teal()       { return Color(128, 128,   0); }
+inline cv::viz::Color cv::viz::Color::rose()       { return Color(128,   0, 255); }
+inline cv::viz::Color cv::viz::Color::azure()      { return Color(255, 128,   0); }
+inline cv::viz::Color cv::viz::Color::lime()       { return Color(0,   255, 191); }
+inline cv::viz::Color cv::viz::Color::gold()       { return Color(0,   215, 255); }
+inline cv::viz::Color cv::viz::Color::brown()      { return Color(0,    75, 150); }
+inline cv::viz::Color cv::viz::Color::orange()     { return Color(0,   165, 255); }
+inline cv::viz::Color cv::viz::Color::chartreuse() { return Color(0,   255, 128); }
+inline cv::viz::Color cv::viz::Color::orange_red() { return Color(0,    69, 255); }
+inline cv::viz::Color cv::viz::Color::purple()     { return Color(128,   0, 128); }
+inline cv::viz::Color cv::viz::Color::indigo()     { return Color(130,   0,  75); }
+
+inline cv::viz::Color cv::viz::Color::pink()           { return Color(203, 192, 255); }
+inline cv::viz::Color cv::viz::Color::cherry()         { return Color( 99,  29, 222); }
+inline cv::viz::Color cv::viz::Color::bluberry()       { return Color(247, 134,  79); }
+inline cv::viz::Color cv::viz::Color::raspberry()      { return Color( 92,  11, 227); }
+inline cv::viz::Color cv::viz::Color::silver()         { return Color(192, 192, 192); }
+inline cv::viz::Color cv::viz::Color::violet()         { return Color(226,  43, 138); }
+inline cv::viz::Color cv::viz::Color::apricot()        { return Color(177, 206, 251); }
+inline cv::viz::Color cv::viz::Color::turquoise()      { return Color(208, 224,  64); }
+inline cv::viz::Color cv::viz::Color::celestial_blue() { return Color(208, 151,  73); }
+inline cv::viz::Color cv::viz::Color::amethyst()       { return Color(204, 102, 153); }
+
+inline cv::viz::Color cv::viz::Color::not_set()        { return Color(-1, -1, -1); }
+
+#endif
diff --git a/modules/viz/include/opencv2/viz/viz3d.hpp b/modules/viz/include/opencv2/viz/viz3d.hpp
new file mode 100644
index 0000000000..1a137bcfb3
--- /dev/null
+++ b/modules/viz/include/opencv2/viz/viz3d.hpp
@@ -0,0 +1,131 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+// Authors:
+//  * Ozan Tonkal, ozantonkal@gmail.com
+//  * Anatoly Baksheev, Itseez Inc.  myname.mysurname <> mycompany.com
+//
+//M*/
+
+#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 && !defined CVAPI_EXPORTS
+    //#error "Viz is in beta state now. Please define macro above to use it"
+#endif
+
+#include <opencv2/core/core.hpp>
+#include <opencv2/viz/types.hpp>
+#include <opencv2/viz/widgets.hpp>
+
+namespace cv
+{
+    namespace viz
+    {
+        class CV_EXPORTS Viz3d
+        {
+        public:
+            typedef cv::viz::Color Color;
+            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 Affine3d &pose = Affine3d::Identity());
+            void removeWidget(const String &id);
+            Widget getWidget(const String &id) const;
+            void removeAllWidgets();
+
+            void showImage(InputArray image, const Size& window_size = Size(-1, -1));
+
+            void setWidgetPose(const String &id, const Affine3d &pose);
+            void updateWidgetPose(const String &id, const Affine3d &pose);
+            Affine3d getWidgetPose(const String &id) const;
+
+            void setCamera(const Camera &camera);
+            Camera getCamera() const;
+            Affine3d getViewerPose();
+            void setViewerPose(const Affine3d &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(const Point& window_position);
+            void setFullScreen(bool mode = true);
+            void setBackgroundColor(const Color& color = Color::black(), const Color& color2 = Color::not_set());
+            void setBackgroundTexture(InputArray image = noArray());
+            void setBackgroundMeshLab();
+
+            void spin();
+            void spinOnce(int time = 1, bool force_redraw = false);
+            bool wasStopped() const;
+            void close();
+
+            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 setRepresentation(int representation);
+        private:
+
+            struct VizImpl;
+            VizImpl* impl_;
+
+            void create(const String &window_name);
+            void release();
+
+            friend class VizStorage;
+        };
+
+    } /* namespace viz */
+} /* namespace cv */
+
+#endif
diff --git a/modules/viz/include/opencv2/viz/vizcore.hpp b/modules/viz/include/opencv2/viz/vizcore.hpp
new file mode 100644
index 0000000000..0fde95b2f1
--- /dev/null
+++ b/modules/viz/include/opencv2/viz/vizcore.hpp
@@ -0,0 +1,127 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+// Authors:
+//  * Ozan Tonkal, ozantonkal@gmail.com
+//  * Anatoly Baksheev, Itseez Inc.  myname.mysurname <> mycompany.com
+//
+//M*/
+
+#ifndef __OPENCV_VIZCORE_HPP__
+#define __OPENCV_VIZCORE_HPP__
+
+#include <opencv2/viz/types.hpp>
+#include <opencv2/viz/widgets.hpp>
+#include <opencv2/viz/viz3d.hpp>
+
+namespace cv
+{
+    namespace viz
+    {
+        //! takes coordiante frame data and builds transfrom to global coordinate frame
+        CV_EXPORTS Affine3d makeTransformToGlobal(const Vec3d& axis_x, const Vec3d& axis_y, const Vec3d& axis_z, const Vec3d& origin = Vec3d::all(0));
+
+        //! constructs camera pose from position, focal_point and up_vector (see gluLookAt() for more infromation)
+        CV_EXPORTS Affine3d makeCameraPose(const Vec3d& position, const Vec3d& focal_point, const Vec3d& y_dir);
+
+        //! retrieves a window by its name. If no window with such name, then it creates new.
+        CV_EXPORTS Viz3d getWindowByName(const String &window_name);
+
+        //! Unregisters all Viz windows from internal database. After it 'getWindowByName()' will create new windows instead getting existing from the database.
+        CV_EXPORTS void unregisterAllWindows();
+
+        //! Displays image in specified window
+        CV_EXPORTS Viz3d imshow(const String& window_name, InputArray image, const Size& window_size = Size(-1, -1));
+
+        //! checks float value for Nan
+        inline bool isNan(float x)
+        {
+            unsigned int *u = reinterpret_cast<unsigned int *>(&x);
+            return ((u[0] & 0x7f800000) == 0x7f800000) && (u[0] & 0x007fffff);
+        }
+
+        //! checks double value for Nan
+        inline bool isNan(double x)
+        {
+            unsigned int *u = reinterpret_cast<unsigned int *>(&x);
+            return (u[1] & 0x7ff00000) == 0x7ff00000 && (u[0] != 0 || (u[1] & 0x000fffff) != 0);
+        }
+
+        //! checks vectors for Nans
+        template<typename _Tp, int cn> inline bool isNan(const Vec<_Tp, cn>& v)
+        { return isNan(v.val[0]) || isNan(v.val[1]) || isNan(v.val[2]); }
+
+        //! checks point for Nans
+        template<typename _Tp> inline bool isNan(const Point3_<_Tp>& p)
+        { return isNan(p.x) || isNan(p.y) || isNan(p.z); }
+
+
+        ///////////////////////////////////////////////////////////////////////////////////////////////
+        /// Read/write clouds. Supported formats: ply, xyz, obj and stl (readonly)
+
+        CV_EXPORTS void writeCloud(const String& file, InputArray cloud, InputArray colors = noArray(), InputArray normals = noArray(), bool binary = false);
+        CV_EXPORTS Mat  readCloud (const String& file, OutputArray colors = noArray(), OutputArray normals = noArray());
+
+        ///////////////////////////////////////////////////////////////////////////////////////////////
+        /// Reads mesh. Only ply format is supported now and no texture load support
+
+        CV_EXPORTS Mesh readMesh(const String& file);
+
+        ///////////////////////////////////////////////////////////////////////////////////////////////
+        /// Read/write poses and trajectories
+
+        CV_EXPORTS bool readPose(const String& file, Affine3d& pose, const String& tag = "pose");
+        CV_EXPORTS void writePose(const String& file, const Affine3d& pose, const String& tag = "pose");
+
+        //! takes vector<Affine3<T>> with T = float/dobule and writes to a sequence of files with given filename format
+        CV_EXPORTS void writeTrajectory(InputArray traj, const String& files_format = "pose%05d.xml", int start = 0, const String& tag = "pose");
+
+        //! takes vector<Affine3<T>> with T = float/dobule and loads poses from sequence of files
+        CV_EXPORTS void readTrajectory(OutputArray traj, const String& files_format = "pose%05d.xml", int start = 0, int end = INT_MAX, const String& tag = "pose");
+
+
+        ///////////////////////////////////////////////////////////////////////////////////////////////
+        /// Computing normals for mesh
+
+        CV_EXPORTS void computeNormals(const Mesh& mesh, OutputArray normals);
+
+    } /* namespace viz */
+} /* namespace cv */
+
+#endif /* __OPENCV_VIZCORE_HPP__ */
diff --git a/modules/viz/include/opencv2/viz/widget_accessor.hpp b/modules/viz/include/opencv2/viz/widget_accessor.hpp
new file mode 100644
index 0000000000..734f6ce559
--- /dev/null
+++ b/modules/viz/include/opencv2/viz/widget_accessor.hpp
@@ -0,0 +1,69 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+// Authors:
+//  * Ozan Tonkal, ozantonkal@gmail.com
+//  * Anatoly Baksheev, Itseez Inc.  myname.mysurname <> mycompany.com
+//
+//M*/
+
+#ifndef __OPENCV_VIZ_WIDGET_ACCESSOR_HPP__
+#define __OPENCV_VIZ_WIDGET_ACCESSOR_HPP__
+
+#include <opencv2/core/types_c.h>
+#include <vtkSmartPointer.h>
+#include <vtkProp.h>
+
+namespace cv
+{
+    namespace viz
+    {
+        class Widget;
+
+        //The class is only that depends on VTK in its interface.
+        //It is indended for those users who want to develop own widgets system using VTK library API.
+        struct CV_EXPORTS WidgetAccessor
+        {
+            static vtkSmartPointer<vtkProp> getProp(const Widget &widget);
+            static void setProp(Widget &widget, vtkSmartPointer<vtkProp> prop);
+        };
+    }
+}
+
+#endif
diff --git a/modules/viz/include/opencv2/viz/widgets.hpp b/modules/viz/include/opencv2/viz/widgets.hpp
new file mode 100644
index 0000000000..2c49b9d0e2
--- /dev/null
+++ b/modules/viz/include/opencv2/viz/widgets.hpp
@@ -0,0 +1,396 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+// Authors:
+//  * Ozan Tonkal, ozantonkal@gmail.com
+//  * Anatoly Baksheev, Itseez Inc.  myname.mysurname <> mycompany.com
+//
+//M*/
+
+#ifndef __OPENCV_VIZ_WIDGETS_HPP__
+#define __OPENCV_VIZ_WIDGETS_HPP__
+
+#include <opencv2/viz/types.hpp>
+
+namespace cv
+{
+    namespace viz
+    {
+        /////////////////////////////////////////////////////////////////////////////
+        /// Widget rendering properties
+        enum RenderingProperties
+        {
+            POINT_SIZE,
+            OPACITY,
+            LINE_WIDTH,
+            FONT_SIZE,
+            REPRESENTATION,
+            IMMEDIATE_RENDERING,
+            SHADING
+        };
+
+        enum RepresentationValues
+        {
+            REPRESENTATION_POINTS,
+            REPRESENTATION_WIREFRAME,
+            REPRESENTATION_SURFACE
+        };
+
+        enum ShadingValues
+        {
+            SHADING_FLAT,
+            SHADING_GOURAUD,
+            SHADING_PHONG
+        };
+
+        /////////////////////////////////////////////////////////////////////////////
+        /// The base class for all widgets
+        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:
+            class Impl;
+            Impl *impl_;
+            friend struct WidgetAccessor;
+        };
+
+        /////////////////////////////////////////////////////////////////////////////
+        /// The base class for all 3D widgets
+        class CV_EXPORTS Widget3D : public Widget
+        {
+        public:
+            Widget3D() {}
+
+            //! widget position manipulation, i.e. place where it is rendered
+            void setPose(const Affine3d &pose);
+            void updatePose(const Affine3d &pose);
+            Affine3d getPose() const;
+
+            //! update internal widget data, i.e. points, normals, etc.
+            void applyTransform(const Affine3d &transform);
+
+            void setColor(const Color &color);
+
+        };
+
+        /////////////////////////////////////////////////////////////////////////////
+        /// The base class for all 2D widgets
+        class CV_EXPORTS Widget2D : public Widget
+        {
+        public:
+            Widget2D() {}
+
+            void setColor(const Color &color);
+        };
+
+        /////////////////////////////////////////////////////////////////////////////
+        /// Simple widgets
+
+        class CV_EXPORTS WLine : public Widget3D
+        {
+        public:
+            WLine(const Point3d &pt1, const Point3d &pt2, const Color &color = Color::white());
+        };
+
+        class CV_EXPORTS WPlane : public Widget3D
+        {
+        public:
+            //! created default plane with center point at origin and normal oriented along z-axis
+            WPlane(const Size2d& size = Size2d(1.0, 1.0), const Color &color = Color::white());
+
+            //! repositioned plane
+            WPlane(const Point3d& center, const Vec3d& normal, const Vec3d& new_yaxis,
+                   const Size2d& size = Size2d(1.0, 1.0), const Color &color = Color::white());
+        };
+
+        class CV_EXPORTS WSphere : public Widget3D
+        {
+        public:
+            WSphere(const cv::Point3d &center, double radius, int sphere_resolution = 10, const Color &color = Color::white());
+        };
+
+        class CV_EXPORTS WArrow : public Widget3D
+        {
+        public:
+            WArrow(const Point3d& pt1, const Point3d& pt2, double thickness = 0.03, const Color &color = Color::white());
+        };
+
+        class CV_EXPORTS WCircle : public Widget3D
+        {
+        public:
+            //! creates default planar circle centred at origin with plane normal along z-axis
+            WCircle(double radius, double thickness = 0.01, const Color &color = Color::white());
+
+            //! creates repositioned circle
+            WCircle(double radius, const Point3d& center, const Vec3d& normal, double thickness = 0.01, const Color &color = Color::white());
+        };
+
+        class CV_EXPORTS WCone : public Widget3D
+        {
+        public:
+            //! create default cone, oriented along x-axis with center of its base located at origin
+            WCone(double length, double radius, int resolution = 6.0, const Color &color = Color::white());
+
+            //! creates repositioned cone
+            WCone(double radius, const Point3d& center, const Point3d& tip, int resolution = 6.0, const Color &color = Color::white());
+        };
+
+        class CV_EXPORTS WCylinder : public Widget3D
+        {
+        public:
+            WCylinder(const Point3d& axis_point1, const Point3d& axis_point2, double radius, int numsides = 30, const Color &color = Color::white());
+        };
+
+        class CV_EXPORTS WCube : public Widget3D
+        {
+        public:
+            WCube(const Point3d& min_point = Vec3d::all(-0.5), const Point3d& max_point = Vec3d::all(0.5),
+                  bool wire_frame = true, const Color &color = Color::white());
+        };
+
+        class CV_EXPORTS WPolyLine : public Widget3D
+        {
+        public:
+            WPolyLine(InputArray points, const Color &color = Color::white());
+        };
+
+        /////////////////////////////////////////////////////////////////////////////
+        /// Text and image widgets
+
+        class CV_EXPORTS WText : public Widget2D
+        {
+        public:
+            WText(const String &text, const Point &pos, int font_size = 20, const Color &color = Color::white());
+
+            void setText(const String &text);
+            String getText() const;
+        };
+
+        class CV_EXPORTS WText3D : public Widget3D
+        {
+        public:
+            //! creates text label in 3D. If face_camera = false, text plane normal is oriented along z-axis. Use widget pose to orient it properly
+            WText3D(const String &text, const Point3d &position, double text_scale = 1., bool face_camera = true, const Color &color = Color::white());
+
+            void setText(const String &text);
+            String getText() const;
+        };
+
+        class CV_EXPORTS WImageOverlay : public Widget2D
+        {
+        public:
+            WImageOverlay(InputArray image, const Rect &rect);
+            void setImage(InputArray image);
+        };
+
+        class CV_EXPORTS WImage3D : public Widget3D
+        {
+        public:
+            //! Creates 3D image in a plane centered at the origin with normal orientaion along z-axis,
+            //! image x- and y-axes are oriented along x- and y-axes of 3d world
+            WImage3D(InputArray image, const Size2d &size);
+
+            //! Creates 3D image at a given position, pointing in the direction of the normal, and having the up_vector orientation
+            WImage3D(InputArray image, const Size2d &size, const Vec3d &center, const Vec3d &normal, const Vec3d &up_vector);
+
+            void setImage(InputArray image);
+        };
+
+        /////////////////////////////////////////////////////////////////////////////
+        /// Compond widgets
+
+        class CV_EXPORTS WCoordinateSystem : public Widget3D
+        {
+        public:
+            WCoordinateSystem(double scale = 1.0);
+        };
+
+        class CV_EXPORTS WGrid : public Widget3D
+        {
+        public:
+            //! Creates grid at the origin and normal oriented along z-axis
+            WGrid(const Vec2i &cells = Vec2i::all(10), const Vec2d &cells_spacing = Vec2d::all(1.0), const Color &color = Color::white());
+
+            //! Creates repositioned grid
+            WGrid(const Point3d& center, const Vec3d& normal, const Vec3d& new_yaxis,
+                  const Vec2i &cells = Vec2i::all(10), const Vec2d &cells_spacing = Vec2d::all(1.0), const Color &color = Color::white());
+        };
+
+        class CV_EXPORTS WCameraPosition : public Widget3D
+        {
+        public:
+            //! Creates camera coordinate frame (axes) at the origin
+            WCameraPosition(double scale = 1.0);
+            //! Creates frustum based on the intrinsic marix K at the origin
+            WCameraPosition(const Matx33d &K, double scale = 1.0, const Color &color = Color::white());
+            //! Creates frustum based on the field of view at the origin
+            WCameraPosition(const Vec2d &fov, double scale = 1.0, const Color &color = Color::white());
+            //! Creates frustum and display given image at the far plane
+            WCameraPosition(const Matx33d &K, InputArray image, double scale = 1.0, const Color &color = Color::white());
+            //! Creates frustum and display given image at the far plane
+            WCameraPosition(const Vec2d &fov, InputArray image, double scale = 1.0, const Color &color = Color::white());
+        };
+
+        /////////////////////////////////////////////////////////////////////////////
+        /// Trajectories
+
+        class CV_EXPORTS WTrajectory : public Widget3D
+        {
+        public:
+            enum {FRAMES = 1, PATH = 2, BOTH = FRAMES + PATH };
+
+            //! Takes vector<Affine3<T>> and displays trajectory of the given path either by coordinate frames or polyline
+            WTrajectory(InputArray path, int display_mode = WTrajectory::PATH, double scale = 1.0, const Color &color = Color::white());
+        };
+
+        class CV_EXPORTS WTrajectoryFrustums : public Widget3D
+        {
+        public:
+            //! Takes vector<Affine3<T>> and displays trajectory of the given path by frustums
+            WTrajectoryFrustums(InputArray path, const Matx33d &K, double scale = 1., const Color &color = Color::white());
+
+            //! Takes vector<Affine3<T>> and displays trajectory of the given path by frustums
+            WTrajectoryFrustums(InputArray path, const Vec2d &fov, double scale = 1., const Color &color = Color::white());
+        };
+
+        class CV_EXPORTS WTrajectorySpheres: public Widget3D
+        {
+        public:
+            //! Takes vector<Affine3<T>> and displays trajectory of the given path
+            WTrajectorySpheres(InputArray path, double line_length = 0.05, double radius = 0.007,
+                               const Color &from = Color::red(), const Color &to = Color::white());
+        };
+
+        /////////////////////////////////////////////////////////////////////////////
+        /// Clouds
+
+        class CV_EXPORTS WCloud: public Widget3D
+        {
+        public:
+            //! Each point in cloud is mapped to a color in colors
+            WCloud(InputArray cloud, InputArray colors);
+            //! All points in cloud have the same color
+            WCloud(InputArray cloud, const Color &color = Color::white());
+        };
+
+        class CV_EXPORTS WPaintedCloud: public Widget3D
+        {
+        public:
+            //! Paint cloud with default gradient between cloud bounds points
+            WPaintedCloud(InputArray cloud);
+
+            //! Paint cloud with default gradient between given points
+            WPaintedCloud(InputArray cloud, const Point3d& p1, const Point3d& p2);
+
+            //! Paint cloud with gradient specified by given colors between given points
+            WPaintedCloud(InputArray cloud, const Point3d& p1, const Point3d& p2, const Color& c1, const Color c2);
+        };
+
+        class CV_EXPORTS WCloudCollection : public Widget3D
+        {
+        public:
+            WCloudCollection();
+
+            //! Each point in cloud is mapped to a color in colors
+            void addCloud(InputArray cloud, InputArray colors, const Affine3d &pose = Affine3d::Identity());
+            //! All points in cloud have the same color
+            void addCloud(InputArray cloud, const Color &color = Color::white(), const Affine3d &pose = Affine3d::Identity());
+        };
+
+        class CV_EXPORTS WCloudNormals : public Widget3D
+        {
+        public:
+            WCloudNormals(InputArray cloud, InputArray normals, int level = 64, double scale = 0.1, const Color &color = Color::white());
+        };
+
+        class CV_EXPORTS WMesh : public Widget3D
+        {
+        public:
+            WMesh(const Mesh &mesh);
+            WMesh(InputArray cloud, InputArray polygons, InputArray colors = noArray(), InputArray normals = noArray());
+        };
+
+        /////////////////////////////////////////////////////////////////////////////
+        /// Utility exports
+
+        template<> CV_EXPORTS Widget2D Widget::cast<Widget2D>();
+        template<> CV_EXPORTS Widget3D Widget::cast<Widget3D>();
+        template<> CV_EXPORTS WLine Widget::cast<WLine>();
+        template<> CV_EXPORTS WPlane Widget::cast<WPlane>();
+        template<> CV_EXPORTS WSphere Widget::cast<WSphere>();
+        template<> CV_EXPORTS WCylinder Widget::cast<WCylinder>();
+        template<> CV_EXPORTS WArrow Widget::cast<WArrow>();
+        template<> CV_EXPORTS WCircle Widget::cast<WCircle>();
+        template<> CV_EXPORTS WCone Widget::cast<WCone>();
+        template<> CV_EXPORTS WCube Widget::cast<WCube>();
+        template<> CV_EXPORTS WCoordinateSystem Widget::cast<WCoordinateSystem>();
+        template<> CV_EXPORTS WPolyLine Widget::cast<WPolyLine>();
+        template<> CV_EXPORTS WGrid Widget::cast<WGrid>();
+        template<> CV_EXPORTS WText3D Widget::cast<WText3D>();
+        template<> CV_EXPORTS WText Widget::cast<WText>();
+        template<> CV_EXPORTS WImageOverlay Widget::cast<WImageOverlay>();
+        template<> CV_EXPORTS WImage3D Widget::cast<WImage3D>();
+        template<> CV_EXPORTS WCameraPosition Widget::cast<WCameraPosition>();
+        template<> CV_EXPORTS WTrajectory Widget::cast<WTrajectory>();
+        template<> CV_EXPORTS WTrajectoryFrustums Widget::cast<WTrajectoryFrustums>();
+        template<> CV_EXPORTS WTrajectorySpheres Widget::cast<WTrajectorySpheres>();
+        template<> CV_EXPORTS WCloud Widget::cast<WCloud>();
+        template<> CV_EXPORTS WPaintedCloud Widget::cast<WPaintedCloud>();
+        template<> CV_EXPORTS WCloudCollection Widget::cast<WCloudCollection>();
+        template<> CV_EXPORTS WCloudNormals Widget::cast<WCloudNormals>();
+        template<> CV_EXPORTS WMesh Widget::cast<WMesh>();
+
+    } /* namespace viz */
+} /* namespace cv */
+
+#endif
diff --git a/modules/viz/src/clouds.cpp b/modules/viz/src/clouds.cpp
new file mode 100644
index 0000000000..4b84e8e9e1
--- /dev/null
+++ b/modules/viz/src/clouds.cpp
@@ -0,0 +1,441 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+// Authors:
+//  * Ozan Tonkal, ozantonkal@gmail.com
+//  * Anatoly Baksheev, Itseez Inc.  myname.mysurname <> mycompany.com
+//
+//M*/
+
+#include "precomp.hpp"
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// Point Cloud Widget implementation
+
+cv::viz::WCloud::WCloud(InputArray cloud, InputArray colors)
+{
+    CV_Assert(!cloud.empty() && !colors.empty());
+
+    vtkSmartPointer<vtkCloudMatSource> cloud_source = vtkSmartPointer<vtkCloudMatSource>::New();
+    cloud_source->SetColorCloud(cloud, colors);
+    cloud_source->Update();
+
+    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
+    VtkUtils::SetInputData(mapper, cloud_source->GetOutput());
+    mapper->SetScalarModeToUsePointData();
+    mapper->ImmediateModeRenderingOff();
+    mapper->SetScalarRange(0, 255);
+    mapper->ScalarVisibilityOn();
+
+    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
+    actor->GetProperty()->SetInterpolationToFlat();
+    actor->GetProperty()->BackfaceCullingOn();
+    actor->SetMapper(mapper);
+
+    WidgetAccessor::setProp(*this, actor);
+}
+
+cv::viz::WCloud::WCloud(InputArray cloud, const Color &color)
+{
+    WCloud cloud_widget(cloud, Mat(cloud.size(), CV_8UC3, color));
+    *this = cloud_widget;
+}
+
+
+template<> cv::viz::WCloud cv::viz::Widget::cast<cv::viz::WCloud>()
+{
+    Widget3D widget = this->cast<Widget3D>();
+    return static_cast<WCloud&>(widget);
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// Painted Cloud Widget implementation
+
+cv::viz::WPaintedCloud::WPaintedCloud(InputArray cloud)
+{
+    vtkSmartPointer<vtkCloudMatSource> cloud_source = vtkSmartPointer<vtkCloudMatSource>::New();
+    cloud_source->SetCloud(cloud);
+    cloud_source->Update();
+
+    Vec6d bounds(cloud_source->GetOutput()->GetPoints()->GetBounds());
+
+    vtkSmartPointer<vtkElevationFilter> elevation = vtkSmartPointer<vtkElevationFilter>::New();
+    elevation->SetInputConnection(cloud_source->GetOutputPort());
+    elevation->SetLowPoint(bounds[0], bounds[2], bounds[4]);
+    elevation->SetHighPoint(bounds[1], bounds[3], bounds[5]);
+    elevation->SetScalarRange(0.0, 1.0);
+    elevation->Update();
+
+    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
+    VtkUtils::SetInputData(mapper, vtkPolyData::SafeDownCast(elevation->GetOutput()));
+    mapper->ImmediateModeRenderingOff();
+    mapper->ScalarVisibilityOn();
+    mapper->SetColorModeToMapScalars();
+
+    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
+    actor->GetProperty()->SetInterpolationToFlat();
+    actor->GetProperty()->BackfaceCullingOn();
+    actor->SetMapper(mapper);
+
+    WidgetAccessor::setProp(*this, actor);
+}
+
+cv::viz::WPaintedCloud::WPaintedCloud(InputArray cloud, const Point3d& p1, const Point3d& p2)
+{
+    vtkSmartPointer<vtkCloudMatSource> cloud_source = vtkSmartPointer<vtkCloudMatSource>::New();
+    cloud_source->SetCloud(cloud);
+
+    vtkSmartPointer<vtkElevationFilter> elevation = vtkSmartPointer<vtkElevationFilter>::New();
+    elevation->SetInputConnection(cloud_source->GetOutputPort());
+    elevation->SetLowPoint(p1.x, p1.y, p1.z);
+    elevation->SetHighPoint(p2.x, p2.y, p2.z);
+    elevation->SetScalarRange(0.0, 1.0);
+    elevation->Update();
+
+    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
+    VtkUtils::SetInputData(mapper, vtkPolyData::SafeDownCast(elevation->GetOutput()));
+    mapper->ImmediateModeRenderingOff();
+    mapper->ScalarVisibilityOn();
+    mapper->SetColorModeToMapScalars();
+
+    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
+    actor->GetProperty()->SetInterpolationToFlat();
+    actor->GetProperty()->BackfaceCullingOn();
+    actor->SetMapper(mapper);
+
+    WidgetAccessor::setProp(*this, actor);
+}
+
+cv::viz::WPaintedCloud::WPaintedCloud(InputArray cloud, const Point3d& p1, const Point3d& p2, const Color& c1, const Color c2)
+{
+    vtkSmartPointer<vtkCloudMatSource> cloud_source = vtkSmartPointer<vtkCloudMatSource>::New();
+    cloud_source->SetCloud(cloud);
+
+    vtkSmartPointer<vtkElevationFilter> elevation = vtkSmartPointer<vtkElevationFilter>::New();
+    elevation->SetInputConnection(cloud_source->GetOutputPort());
+    elevation->SetLowPoint(p1.x, p1.y, p1.z);
+    elevation->SetHighPoint(p2.x, p2.y, p2.z);
+    elevation->SetScalarRange(0.0, 1.0);
+    elevation->Update();
+
+    Color vc1 = vtkcolor(c1), vc2 = vtkcolor(c2);
+    vtkSmartPointer<vtkColorTransferFunction> color_transfer = vtkSmartPointer<vtkColorTransferFunction>::New();
+    color_transfer->SetColorSpaceToRGB();
+    color_transfer->AddRGBPoint(0.0, vc1[0], vc1[1], vc1[2]);
+    color_transfer->AddRGBPoint(1.0, vc2[0], vc2[1], vc2[2]);
+    color_transfer->SetScaleToLinear();
+    color_transfer->Build();
+
+    //if in future some need to replace color table with real scalars, then this can be done usine next calls:
+    //vtkDataArray *float_scalars = vtkPolyData::SafeDownCast(elevation->GetOutput())->GetPointData()->GetArray("Elevation");
+    //vtkSmartPointer<vtkPolyData> polydata = cloud_source->GetOutput();
+    //polydata->GetPointData()->SetScalars(color_transfer->MapScalars(float_scalars, VTK_COLOR_MODE_DEFAULT, 0));
+
+    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
+    VtkUtils::SetInputData(mapper, vtkPolyData::SafeDownCast(elevation->GetOutput()));
+    mapper->ImmediateModeRenderingOff();
+    mapper->ScalarVisibilityOn();
+    mapper->SetColorModeToMapScalars();
+    mapper->SetLookupTable(color_transfer);
+
+    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
+    actor->GetProperty()->SetInterpolationToFlat();
+    actor->GetProperty()->BackfaceCullingOn();
+    actor->SetMapper(mapper);
+
+    WidgetAccessor::setProp(*this, actor);
+}
+
+template<> cv::viz::WPaintedCloud cv::viz::Widget::cast<cv::viz::WPaintedCloud>()
+{
+    Widget3D widget = this->cast<Widget3D>();
+    return static_cast<WPaintedCloud&>(widget);
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// Cloud Collection Widget implementation
+
+cv::viz::WCloudCollection::WCloudCollection()
+{
+    // Just create the actor
+    vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
+    WidgetAccessor::setProp(*this, actor);
+}
+
+void cv::viz::WCloudCollection::addCloud(InputArray cloud, InputArray colors, const Affine3d &pose)
+{
+    vtkSmartPointer<vtkCloudMatSource> source = vtkSmartPointer<vtkCloudMatSource>::New();
+    source->SetColorCloud(cloud, colors);
+
+    vtkSmartPointer<vtkPolyData> polydata = VtkUtils::TransformPolydata(source->GetOutputPort(), pose);
+
+    vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast(WidgetAccessor::getProp(*this));
+    CV_Assert("Incompatible widget type." && actor);
+
+    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkPolyDataMapper::SafeDownCast(actor->GetMapper());
+    if (!mapper)
+    {
+        // This is the first cloud
+        mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
+        mapper->SetScalarRange(0, 255);
+        mapper->SetScalarModeToUsePointData();
+        mapper->ScalarVisibilityOn();
+        mapper->ImmediateModeRenderingOff();
+        VtkUtils::SetInputData(mapper, polydata);
+
+        actor->SetNumberOfCloudPoints(std::max<vtkIdType>(1, polydata->GetNumberOfPoints()/10));
+        actor->GetProperty()->SetInterpolationToFlat();
+        actor->GetProperty()->BackfaceCullingOn();
+        actor->SetMapper(mapper);
+        return;
+    }
+
+    vtkPolyData *currdata = vtkPolyData::SafeDownCast(mapper->GetInput());
+    CV_Assert("Cloud Widget without data" && currdata);
+
+    vtkSmartPointer<vtkAppendPolyData> append_filter = vtkSmartPointer<vtkAppendPolyData>::New();
+    VtkUtils::AddInputData(append_filter, currdata);
+    VtkUtils::AddInputData(append_filter, polydata);
+    append_filter->Update();
+
+    VtkUtils::SetInputData(mapper, append_filter->GetOutput());
+
+    actor->SetNumberOfCloudPoints(std::max<vtkIdType>(1, actor->GetNumberOfCloudPoints() + polydata->GetNumberOfPoints()/10));
+}
+
+void cv::viz::WCloudCollection::addCloud(InputArray cloud, const Color &color, const Affine3d &pose)
+{
+    addCloud(cloud, Mat(cloud.size(), CV_8UC3, color), pose);
+}
+
+template<> cv::viz::WCloudCollection cv::viz::Widget::cast<cv::viz::WCloudCollection>()
+{
+    Widget3D widget = this->cast<Widget3D>();
+    return static_cast<WCloudCollection&>(widget);
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// Cloud Normals Widget implementation
+
+cv::viz::WCloudNormals::WCloudNormals(InputArray _cloud, InputArray _normals, int level, double scale, const Color &color)
+{
+    Mat cloud = _cloud.getMat();
+    Mat normals = _normals.getMat();
+
+    CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4);
+    CV_Assert(cloud.size() == normals.size() && cloud.type() == normals.type());
+
+    int sqlevel = (int)std::sqrt((double)level);
+    int ystep = (cloud.cols > 1 && cloud.rows > 1) ? sqlevel : 1;
+    int xstep = (cloud.cols > 1 && cloud.rows > 1) ? sqlevel : level;
+
+    vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
+    points->SetDataType(cloud.depth() == CV_32F ? VTK_FLOAT : VTK_DOUBLE);
+
+    vtkSmartPointer<vtkCellArray> lines = vtkSmartPointer<vtkCellArray>::New();
+
+    int s_chs = cloud.channels();
+    int n_chs = normals.channels();
+    int total = 0;
+
+    for(int y = 0; y < cloud.rows; y += ystep)
+    {
+        if (cloud.depth() == CV_32F)
+        {
+            const float *srow = cloud.ptr<float>(y);
+            const float *send = srow + cloud.cols * s_chs;
+            const float *nrow = normals.ptr<float>(y);
+
+            for (; srow < send; srow += xstep * s_chs, nrow += xstep * n_chs)
+                if (!isNan(srow) && !isNan(nrow))
+                {
+                    Vec3f endp = Vec3f(srow) + Vec3f(nrow) * (float)scale;
+
+                    points->InsertNextPoint(srow);
+                    points->InsertNextPoint(endp.val);
+
+                    lines->InsertNextCell(2);
+                    lines->InsertCellPoint(total++);
+                    lines->InsertCellPoint(total++);
+                }
+        }
+        else
+        {
+            const double *srow = cloud.ptr<double>(y);
+            const double *send = srow + cloud.cols * s_chs;
+            const double *nrow = normals.ptr<double>(y);
+
+            for (; srow < send; srow += xstep * s_chs, nrow += xstep * n_chs)
+                if (!isNan(srow) && !isNan(nrow))
+                {
+                    Vec3d endp = Vec3d(srow) + Vec3d(nrow) * (double)scale;
+
+                    points->InsertNextPoint(srow);
+                    points->InsertNextPoint(endp.val);
+
+                    lines->InsertNextCell(2);
+                    lines->InsertCellPoint(total++);
+                    lines->InsertCellPoint(total++);
+                }
+        }
+    }
+
+    vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New();
+    polyData->SetPoints(points);
+    polyData->SetLines(lines);
+
+    vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New();
+    mapper->SetColorModeToMapScalars();
+    mapper->SetScalarModeToUsePointData();
+    VtkUtils::SetInputData(mapper, polyData);
+
+    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
+    actor->SetMapper(mapper);
+
+    WidgetAccessor::setProp(*this, actor);
+    setColor(color);
+}
+
+template<> cv::viz::WCloudNormals cv::viz::Widget::cast<cv::viz::WCloudNormals>()
+{
+    Widget3D widget = this->cast<Widget3D>();
+    return static_cast<WCloudNormals&>(widget);
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// Mesh Widget implementation
+
+cv::viz::WMesh::WMesh(const Mesh &mesh)
+{
+    CV_Assert(mesh.cloud.rows == 1 && mesh.polygons.type() == CV_32SC1);
+
+    vtkSmartPointer<vtkCloudMatSource> source = vtkSmartPointer<vtkCloudMatSource>::New();
+    source->SetColorCloudNormalsTCoords(mesh.cloud, mesh.colors, mesh.normals, mesh.tcoords);
+    source->Update();
+
+    Mat lookup_buffer(1, mesh.cloud.total(), CV_32SC1);
+    int *lookup = lookup_buffer.ptr<int>();
+    for(int y = 0, index = 0; y < mesh.cloud.rows; ++y)
+    {
+        int s_chs = mesh.cloud.channels();
+
+        if (mesh.cloud.depth() == CV_32F)
+        {
+            const float* srow = mesh.cloud.ptr<float>(y);
+            const float* send = srow + mesh.cloud.cols * s_chs;
+
+            for (; srow != send; srow += s_chs, ++lookup)
+                if (!isNan(srow[0]) && !isNan(srow[1]) && !isNan(srow[2]))
+                    *lookup = index++;
+        }
+
+        if (mesh.cloud.depth() == CV_64F)
+        {
+            const double* srow = mesh.cloud.ptr<double>(y);
+            const double* send = srow + mesh.cloud.cols * s_chs;
+
+            for (; srow != send; srow += s_chs, ++lookup)
+                if (!isNan(srow[0]) && !isNan(srow[1]) && !isNan(srow[2]))
+                    *lookup = index++;
+        }
+    }
+    lookup = lookup_buffer.ptr<int>();
+
+    vtkSmartPointer<vtkPolyData> polydata = source->GetOutput();
+    polydata->SetVerts(0);
+
+    const int * polygons = mesh.polygons.ptr<int>();
+    vtkSmartPointer<vtkCellArray> cell_array = vtkSmartPointer<vtkCellArray>::New();
+
+    int idx = 0;
+    size_t polygons_size = mesh.polygons.total();
+    for (size_t i = 0; i < polygons_size; ++idx)
+    {
+        int n_points = polygons[i++];
+
+        cell_array->InsertNextCell(n_points);
+        for (int j = 0; j < n_points; ++j, ++idx)
+            cell_array->InsertCellPoint(lookup[polygons[i++]]);
+    }
+    cell_array->GetData()->SetNumberOfValues(idx);
+    cell_array->Squeeze();
+    polydata->SetStrips(cell_array);
+
+    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
+    mapper->SetScalarModeToUsePointData();
+    mapper->ImmediateModeRenderingOff();
+    VtkUtils::SetInputData(mapper, polydata);
+
+    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
+    //actor->SetNumberOfCloudPoints(std::max(1, polydata->GetNumberOfPoints() / 10));
+    actor->GetProperty()->SetRepresentationToSurface();
+    actor->GetProperty()->BackfaceCullingOff(); // Backface culling is off for higher efficiency
+    actor->GetProperty()->SetInterpolationToFlat();
+    actor->GetProperty()->EdgeVisibilityOff();
+    actor->GetProperty()->ShadingOff();
+    actor->SetMapper(mapper);
+
+    if (!mesh.texture.empty())
+    {
+        vtkSmartPointer<vtkImageMatSource> image_source = vtkSmartPointer<vtkImageMatSource>::New();
+        image_source->SetImage(mesh.texture);
+
+        vtkSmartPointer<vtkTexture> texture = vtkSmartPointer<vtkTexture>::New();
+        texture->SetInputConnection(image_source->GetOutputPort());
+        actor->SetTexture(texture);
+    }
+
+    WidgetAccessor::setProp(*this, actor);
+}
+
+cv::viz::WMesh::WMesh(InputArray cloud, InputArray polygons, InputArray colors, InputArray normals)
+{
+    Mesh mesh;
+    mesh.cloud = cloud.getMat();
+    mesh.colors = colors.getMat();
+    mesh.normals = normals.getMat();
+    mesh.polygons = polygons.getMat();
+    *this = WMesh(mesh);
+}
+
+template<> CV_EXPORTS cv::viz::WMesh cv::viz::Widget::cast<cv::viz::WMesh>()
+{
+    Widget3D widget = this->cast<Widget3D>();
+    return static_cast<WMesh&>(widget);
+}
diff --git a/modules/viz/src/interactor_style.cpp b/modules/viz/src/interactor_style.cpp
new file mode 100644
index 0000000000..75003a2b66
--- /dev/null
+++ b/modules/viz/src/interactor_style.cpp
@@ -0,0 +1,639 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+// Authors:
+//  * Ozan Tonkal, ozantonkal@gmail.com
+//  * Anatoly Baksheev, Itseez Inc.  myname.mysurname <> mycompany.com
+//
+//  OpenCV Viz module is complete rewrite of
+//  PCL visualization module (www.pointclouds.org)
+//
+//M*/
+
+#include "precomp.hpp"
+
+
+namespace cv { namespace viz
+{
+    vtkStandardNewMacro(InteractorStyle)
+}}
+
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+void cv::viz::InteractorStyle::Initialize()
+{
+    // Set windows size (width, height) to unknown (-1)
+    win_size_ = Vec2i(-1, -1);
+    win_pos_ = Vec2i(0, 0);
+    max_win_size_ = Vec2i(-1, -1);
+
+    init_ = true;
+    stereo_anaglyph_mask_default_ = true;
+
+    // Initialize the keyboard event callback as none
+    keyboardCallback_ = 0;
+    keyboard_callback_cookie_ = 0;
+
+    // Initialize the mouse event callback as none
+    mouseCallback_ = 0;
+    mouse_callback_cookie_ = 0;
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+void cv::viz::InteractorStyle::saveScreenshot(const String &file)
+{
+    FindPokedRenderer(Interactor->GetEventPosition()[0], Interactor->GetEventPosition()[1]);
+
+    vtkSmartPointer<vtkWindowToImageFilter> wif = vtkSmartPointer<vtkWindowToImageFilter>::New();
+    wif->SetInput(Interactor->GetRenderWindow());
+
+    vtkSmartPointer<vtkPNGWriter> snapshot_writer = vtkSmartPointer<vtkPNGWriter>::New();
+    snapshot_writer->SetInputConnection(wif->GetOutputPort());
+    snapshot_writer->SetFileName(file.c_str());
+    snapshot_writer->Write();
+
+    cout << "Screenshot successfully captured (" << file.c_str() << ")" << endl;
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+void cv::viz::InteractorStyle::exportScene(const String &file)
+{
+    vtkSmartPointer<vtkExporter> exporter;
+    if (file.size() > 5 && file.substr(file.size() - 5) == ".vrml")
+    {
+        exporter = vtkSmartPointer<vtkVRMLExporter>::New();
+        vtkVRMLExporter::SafeDownCast(exporter)->SetFileName(file.c_str());
+    }
+    else
+    {
+        exporter = vtkSmartPointer<vtkOBJExporter>::New();
+        vtkOBJExporter::SafeDownCast(exporter)->SetFilePrefix(file.c_str());
+    }
+
+    exporter->SetInput(Interactor->GetRenderWindow());
+    exporter->Write();
+
+    cout << "Scene successfully exported (" << file.c_str() << ")" << endl;
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+void cv::viz::InteractorStyle::zoomIn()
+{
+    FindPokedRenderer(Interactor->GetEventPosition()[0], Interactor->GetEventPosition()[1]);
+    // Zoom in
+    StartDolly();
+    double factor = 10.0 * 0.2 * .5;
+    Dolly(std::pow(1.1, factor));
+    EndDolly();
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+void cv::viz::InteractorStyle::zoomOut()
+{
+    FindPokedRenderer(Interactor->GetEventPosition()[0], Interactor->GetEventPosition()[1]);
+    // Zoom out
+    StartDolly();
+    double factor = 10.0 * -0.2 * .5;
+    Dolly(std::pow(1.1, factor));
+    EndDolly();
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+void cv::viz::InteractorStyle::OnChar()
+{
+    // Make sure we ignore the same events we handle in OnKeyDown to avoid calling things twice
+    FindPokedRenderer(Interactor->GetEventPosition()[0], Interactor->GetEventPosition()[1]);
+    if (Interactor->GetKeyCode() >= '0' && Interactor->GetKeyCode() <= '9')
+        return;
+
+    String key(Interactor->GetKeySym());
+    if (key.find("XF86ZoomIn") != String::npos)
+        zoomIn();
+    else if (key.find("XF86ZoomOut") != String::npos)
+        zoomOut();
+
+    int keymod = Interactor->GetAltKey();
+
+    switch (Interactor->GetKeyCode())
+    {
+    // All of the options below simply exit
+    case 'h': case 'H':
+    case 'l': case 'L':
+    case 'p': case 'P':
+    case 'j': case 'J':
+    case 'c': case 'C':
+    case 43:        // KEY_PLUS
+    case 45:        // KEY_MINUS
+    case 'f': case 'F':
+    case 'g': case 'G':
+    case 'o': case 'O':
+    case 'u': case 'U':
+    case 'q': case 'Q':
+    {
+        break;
+    }
+        // S and R have a special !ALT case
+    case 'r': case 'R':
+    case 's': case 'S':
+    {
+        if (!keymod)
+            Superclass::OnChar();
+        break;
+    }
+    default:
+    {
+        Superclass::OnChar();
+        break;
+    }
+    }
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+void cv::viz::InteractorStyle::registerMouseCallback(void (*callback)(const MouseEvent&, void*), void* cookie)
+{
+    // Register the callback function and store the user data
+    mouseCallback_ = callback;
+    mouse_callback_cookie_ = cookie;
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+void cv::viz::InteractorStyle::registerKeyboardCallback(void (*callback)(const KeyboardEvent&, void*), void *cookie)
+{
+    // Register the callback function and store the user data
+    keyboardCallback_ = callback;
+    keyboard_callback_cookie_ = cookie;
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+int cv::viz::InteractorStyle::getModifiers()
+{
+    int modifiers = KeyboardEvent::NONE;
+
+    if (Interactor->GetAltKey())
+        modifiers |= KeyboardEvent::ALT;
+
+    if (Interactor->GetControlKey())
+        modifiers |= KeyboardEvent::CTRL;
+
+    if (Interactor->GetShiftKey())
+        modifiers |= KeyboardEvent::SHIFT;
+    return modifiers;
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+void cv::viz::InteractorStyle::OnKeyDown()
+{
+    CV_Assert("Interactor style not initialized. Please call Initialize() before continuing" && init_);
+    FindPokedRenderer(Interactor->GetEventPosition()[0], Interactor->GetEventPosition()[1]);
+
+    // Save the initial windows width/height
+    if (win_size_[0] == -1 || win_size_[1] == -1)
+        win_size_ = Vec2i(Interactor->GetRenderWindow()->GetSize());
+
+    bool alt = Interactor->GetAltKey() != 0;
+
+    std::string key(Interactor->GetKeySym());
+    if (key.find("XF86ZoomIn") != std::string::npos)
+        zoomIn();
+    else if (key.find("XF86ZoomOut") != std::string::npos)
+        zoomOut();
+
+    switch (Interactor->GetKeyCode())
+    {
+    case 'h': case 'H':
+    {
+        std::cout << "| Help:\n"
+                     "-------\n"
+                     "          p, P   : switch to a point-based representation\n"
+                     "          w, W   : switch to a wireframe-based representation (where available)\n"
+                     "          s, S   : switch to a surface-based representation (where available)\n"
+                     "\n"
+                     "          j, J   : take a .PNG snapshot of the current window view\n"
+                     "          k, K   : export scene to Wavefront .obj format\n"
+                     "    ALT + k, K   : export scene to VRML format\n"
+                     "          c, C   : display current camera/window parameters\n"
+                     "          f, F   : fly to point mode, hold the key and move mouse where to fly\n"
+                     "\n"
+                     "          e, E   : exit the interactor\n"
+                     "          q, Q   : stop and call VTK's TerminateApp\n"
+                     "\n"
+                     "           +/-   : increment/decrement overall point size\n"
+                     "     +/- [+ ALT] : zoom in/out \n"
+                     "\n"
+                     "    r, R [+ ALT] : reset camera [to viewpoint = {0, 0, 0} -> center_{x, y, z}]\n"
+                     "\n"
+                     "    ALT + s, S   : turn stereo mode on/off\n"
+                     "    ALT + f, F   : switch between maximized window mode and original size\n"
+                     "\n"
+                  << std::endl;
+        break;
+    }
+
+        // Switch representation to points
+    case 'p': case 'P':
+    {
+        vtkSmartPointer<vtkActorCollection> ac = CurrentRenderer->GetActors();
+        vtkCollectionSimpleIterator ait;
+        for (ac->InitTraversal(ait); vtkActor* actor = ac->GetNextActor(ait); )
+            for (actor->InitPathTraversal(); vtkAssemblyPath* path = actor->GetNextPath(); )
+            {
+                vtkActor* apart = vtkActor::SafeDownCast(path->GetLastNode()->GetViewProp());
+                apart->GetProperty()->SetRepresentationToPoints();
+            }
+        break;
+    }
+
+        // Save a PNG snapshot
+    case 'j': case 'J':
+        saveScreenshot(cv::format("screenshot-%d.png", (unsigned int)time(0))); break;
+
+        // Export scene as in obj or vrml format
+    case 'k': case 'K':
+    {
+        String format = alt ? "scene-%d.vrml" : "scene-%d";
+        exportScene(cv::format(format.c_str(), (unsigned int)time(0)));
+        break;
+    }
+
+        // display current camera settings/parameters
+    case 'c': case 'C':
+    {
+        vtkSmartPointer<vtkCamera> cam = Interactor->GetRenderWindow()->GetRenderers()->GetFirstRenderer()->GetActiveCamera();
+
+        Vec2d clip(cam->GetClippingRange());
+        Vec3d focal(cam->GetFocalPoint()), pos(cam->GetPosition()), view(cam->GetViewUp());
+        Vec2i win_pos(Interactor->GetRenderWindow()->GetPosition());
+        Vec2i win_size(Interactor->GetRenderWindow()->GetSize());
+        double angle = cam->GetViewAngle () / 180.0 * CV_PI;
+
+        String data = cv::format("clip(%f,%f) focal(%f,%f,%f) pos(%f,%f,%f) view(%f,%f,%f) angle(%f) winsz(%d,%d) winpos(%d,%d)",
+                                 clip[0], clip[1], focal[0], focal[1], focal[2], pos[0], pos[1], pos[2], view[0], view[1], view[2],
+                                 angle, win_size[0], win_size[1], win_pos[0], win_pos[1]);
+
+        std::cout << data.c_str() << std::endl;
+
+        break;
+    }
+    case '=':
+    {
+        zoomIn();
+        break;
+    }
+    case 43:        // KEY_PLUS
+    {
+        if (alt)
+            zoomIn();
+        else
+        {
+            vtkSmartPointer<vtkActorCollection> ac = CurrentRenderer->GetActors();
+            vtkCollectionSimpleIterator ait;
+            for (ac->InitTraversal(ait); vtkActor* actor = ac->GetNextActor(ait); )
+                for (actor->InitPathTraversal(); vtkAssemblyPath* path = actor->GetNextPath(); )
+                {
+                    vtkActor* apart = vtkActor::SafeDownCast(path->GetLastNode()->GetViewProp());
+                    float psize = apart->GetProperty()->GetPointSize();
+                    if (psize < 63.0f)
+                        apart->GetProperty()->SetPointSize(psize + 1.0f);
+                }
+        }
+        break;
+    }
+    case 45:        // KEY_MINUS
+    {
+        if (alt)
+            zoomOut();
+        else
+        {
+            vtkSmartPointer<vtkActorCollection> ac = CurrentRenderer->GetActors();
+            vtkCollectionSimpleIterator ait;
+            for (ac->InitTraversal(ait); vtkActor* actor = ac->GetNextActor(ait); )
+                for (actor->InitPathTraversal(); vtkAssemblyPath* path = actor->GetNextPath(); )
+                {
+                    vtkActor* apart = vtkActor::SafeDownCast(path->GetLastNode()->GetViewProp());
+                    float psize = apart->GetProperty()->GetPointSize();
+                    if (psize > 1.0f)
+                        apart->GetProperty()->SetPointSize(psize - 1.0f);
+                }
+        }
+        break;
+    }
+        // Switch between maximize and original window size
+    case 'f': case 'F':
+    {
+        if (alt)
+        {
+            Vec2i screen_size(Interactor->GetRenderWindow()->GetScreenSize());
+            Vec2i win_size(Interactor->GetRenderWindow()->GetSize());
+
+            // Is window size = max?
+            if (win_size == max_win_size_)
+            {
+                Interactor->GetRenderWindow()->SetSize(win_size_.val);
+                Interactor->GetRenderWindow()->SetPosition(win_pos_.val);
+                Interactor->GetRenderWindow()->Render();
+                Interactor->Render();
+            }
+            // Set to max
+            else
+            {
+                win_pos_ = Vec2i(Interactor->GetRenderWindow()->GetPosition());
+                win_size_ = win_size;
+
+                Interactor->GetRenderWindow()->SetSize(screen_size.val);
+                Interactor->GetRenderWindow()->Render();
+                Interactor->Render();
+                max_win_size_ = Vec2i(Interactor->GetRenderWindow()->GetSize());
+            }
+        }
+        else
+        {
+            AnimState = VTKIS_ANIM_ON;
+            Interactor->GetPicker()->Pick(Interactor->GetEventPosition()[0], Interactor->GetEventPosition()[1], 0.0, CurrentRenderer);
+            vtkSmartPointer<vtkAbstractPropPicker> picker = vtkAbstractPropPicker::SafeDownCast(Interactor->GetPicker());
+            if (picker)
+                if (picker->GetPath())
+                    Interactor->FlyTo(CurrentRenderer, picker->GetPickPosition());
+            AnimState = VTKIS_ANIM_OFF;
+        }
+        break;
+    }
+        // 's'/'S' w/out ALT
+    case 's': case 'S':
+    {
+        if (alt)
+        {
+            vtkSmartPointer<vtkRenderWindow> window = Interactor->GetRenderWindow();
+            if (!window->GetStereoRender())
+            {
+                static Vec2i red_blue(4, 3), magenta_green(2, 5);
+                window->SetAnaglyphColorMask (stereo_anaglyph_mask_default_ ? red_blue.val : magenta_green.val);
+                stereo_anaglyph_mask_default_ = !stereo_anaglyph_mask_default_;
+            }
+            window->SetStereoRender(!window->GetStereoRender());
+            Interactor->Render();
+        }
+        else
+            Superclass::OnKeyDown();
+        break;
+    }
+
+    case 'o': case 'O':
+    {
+        vtkSmartPointer<vtkCamera> cam = CurrentRenderer->GetActiveCamera();
+        cam->SetParallelProjection(!cam->GetParallelProjection());
+        CurrentRenderer->Render();
+        break;
+    }
+
+        // Overwrite the camera reset
+    case 'r': case 'R':
+    {
+        if (!alt)
+        {
+            Superclass::OnKeyDown();
+            break;
+        }
+
+        WidgetActorMap::iterator it = widget_actor_map_->begin();
+        // it might be that some actors don't have a valid transformation set -> we skip them to avoid a seg fault.
+        for (; it != widget_actor_map_->end();  ++it)
+        {
+            vtkProp3D * actor = vtkProp3D::SafeDownCast(it->second);
+            if (actor && actor->GetUserMatrix())
+                break;
+        }
+
+        vtkSmartPointer<vtkCamera> cam = CurrentRenderer->GetActiveCamera();
+
+        // if a valid transformation was found, use it otherwise fall back to default view point.
+        if (it != widget_actor_map_->end())
+        {
+            vtkMatrix4x4* m = vtkProp3D::SafeDownCast(it->second)->GetUserMatrix();
+
+            cam->SetFocalPoint(m->GetElement(0, 3) - m->GetElement(0, 2),
+                               m->GetElement(1, 3) - m->GetElement(1, 2),
+                               m->GetElement(2, 3) - m->GetElement(2, 2));
+
+            cam->SetViewUp  (m->GetElement(0, 1), m->GetElement(1, 1), m->GetElement(2, 1));
+            cam->SetPosition(m->GetElement(0, 3), m->GetElement(1, 3), m->GetElement(2, 3));
+        }
+        else
+        {
+            cam->SetPosition(0, 0, 0);
+            cam->SetFocalPoint(0, 0, 1);
+            cam->SetViewUp(0, -1, 0);
+        }
+
+        // go to the next actor for the next key-press event.
+        if (it != widget_actor_map_->end())
+            ++it;
+        else
+            it = widget_actor_map_->begin();
+
+        CurrentRenderer->SetActiveCamera(cam);
+        CurrentRenderer->ResetCameraClippingRange();
+        CurrentRenderer->Render();
+        break;
+    }
+
+    case 'q': case 'Q':
+    {
+        Interactor->ExitCallback();
+        return;
+    }
+    default:
+    {
+        Superclass::OnKeyDown();
+        break;
+    }
+    }
+
+    KeyboardEvent event(KeyboardEvent::KEY_DOWN, Interactor->GetKeySym(), Interactor->GetKeyCode(), getModifiers());
+    if (keyboardCallback_)
+        keyboardCallback_(event, keyboard_callback_cookie_);
+    Interactor->Render();
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+void cv::viz::InteractorStyle::OnKeyUp()
+{
+    KeyboardEvent event(KeyboardEvent::KEY_UP, Interactor->GetKeySym(), Interactor->GetKeyCode(), getModifiers());
+    if (keyboardCallback_)
+        keyboardCallback_(event, keyboard_callback_cookie_);
+    Superclass::OnKeyUp();
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+void cv::viz::InteractorStyle::OnMouseMove()
+{
+    Vec2i p(Interactor->GetEventPosition());
+    MouseEvent event(MouseEvent::MouseMove, MouseEvent::NoButton, p, getModifiers());
+    if (mouseCallback_)
+        mouseCallback_(event, mouse_callback_cookie_);
+    Superclass::OnMouseMove();
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+void cv::viz::InteractorStyle::OnLeftButtonDown()
+{
+    Vec2i p(Interactor->GetEventPosition());
+    MouseEvent::Type type = (Interactor->GetRepeatCount() == 0) ? MouseEvent::MouseButtonPress : MouseEvent::MouseDblClick;
+    MouseEvent event(type, MouseEvent::LeftButton, p, getModifiers());
+    if (mouseCallback_)
+        mouseCallback_(event, mouse_callback_cookie_);
+    Superclass::OnLeftButtonDown();
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+void cv::viz::InteractorStyle::OnLeftButtonUp()
+{
+    Vec2i p(Interactor->GetEventPosition());
+    MouseEvent event(MouseEvent::MouseButtonRelease, MouseEvent::LeftButton, p, getModifiers());
+    if (mouseCallback_)
+        mouseCallback_(event, mouse_callback_cookie_);
+    Superclass::OnLeftButtonUp();
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+void cv::viz::InteractorStyle::OnMiddleButtonDown()
+{
+    Vec2i p(Interactor->GetEventPosition());
+    MouseEvent::Type type = (Interactor->GetRepeatCount() == 0) ? MouseEvent::MouseButtonPress : MouseEvent::MouseDblClick;
+    MouseEvent event(type, MouseEvent::MiddleButton, p, getModifiers());
+    if (mouseCallback_)
+        mouseCallback_(event, mouse_callback_cookie_);
+    Superclass::OnMiddleButtonDown();
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+void cv::viz::InteractorStyle::OnMiddleButtonUp()
+{
+    Vec2i p(Interactor->GetEventPosition());
+    MouseEvent event(MouseEvent::MouseButtonRelease, MouseEvent::MiddleButton, p, getModifiers());
+    if (mouseCallback_)
+        mouseCallback_(event, mouse_callback_cookie_);
+    Superclass::OnMiddleButtonUp();
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+void cv::viz::InteractorStyle::OnRightButtonDown()
+{
+    Vec2i p(Interactor->GetEventPosition());
+    MouseEvent::Type type = (Interactor->GetRepeatCount() == 0) ? MouseEvent::MouseButtonPress : MouseEvent::MouseDblClick;
+    MouseEvent event(type, MouseEvent::RightButton, p, getModifiers());
+    if (mouseCallback_)
+        mouseCallback_(event, mouse_callback_cookie_);
+    Superclass::OnRightButtonDown();
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+void cv::viz::InteractorStyle::OnRightButtonUp()
+{
+    Vec2i p(Interactor->GetEventPosition());
+    MouseEvent event(MouseEvent::MouseButtonRelease, MouseEvent::RightButton, p, getModifiers());
+    if (mouseCallback_)
+        mouseCallback_(event, mouse_callback_cookie_);
+    Superclass::OnRightButtonUp();
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+void cv::viz::InteractorStyle::OnMouseWheelForward()
+{
+    Vec2i p(Interactor->GetEventPosition());
+    MouseEvent event(MouseEvent::MouseScrollUp, MouseEvent::VScroll, p, getModifiers());
+    if (mouseCallback_)
+        mouseCallback_(event, mouse_callback_cookie_);
+    if (Interactor->GetRepeatCount() && mouseCallback_)
+        mouseCallback_(event, mouse_callback_cookie_);
+
+    if (Interactor->GetAltKey())
+    {
+        // zoom
+        vtkSmartPointer<vtkCamera> cam = CurrentRenderer->GetActiveCamera();
+        double opening_angle = cam->GetViewAngle();
+        if (opening_angle > 15.0)
+            opening_angle -= 1.0;
+
+        cam->SetViewAngle(opening_angle);
+        cam->Modified();
+        CurrentRenderer->ResetCameraClippingRange();
+        CurrentRenderer->Modified();
+        CurrentRenderer->Render();
+        Interactor->Render();
+    }
+    else
+        Superclass::OnMouseWheelForward();
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+void cv::viz::InteractorStyle::OnMouseWheelBackward()
+{
+    Vec2i p(Interactor->GetEventPosition());
+    MouseEvent event(MouseEvent::MouseScrollDown, MouseEvent::VScroll, p, getModifiers());
+    if (mouseCallback_)
+        mouseCallback_(event, mouse_callback_cookie_);
+
+    if (Interactor->GetRepeatCount() && mouseCallback_)
+        mouseCallback_(event, mouse_callback_cookie_);
+
+    if (Interactor->GetAltKey())
+    {
+        // zoom
+        vtkSmartPointer<vtkCamera> cam = CurrentRenderer->GetActiveCamera();
+        double opening_angle = cam->GetViewAngle();
+        if (opening_angle < 170.0)
+            opening_angle += 1.0;
+
+        cam->SetViewAngle(opening_angle);
+        cam->Modified();
+        CurrentRenderer->ResetCameraClippingRange();
+        CurrentRenderer->Modified();
+        CurrentRenderer->Render();
+        Interactor->Render();
+    }
+    else
+        Superclass::OnMouseWheelBackward();
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+void cv::viz::InteractorStyle::OnTimer()
+{
+    CV_Assert("Interactor style not initialized." && init_);
+    Interactor->Render();
+}
diff --git a/modules/viz/src/interactor_style.hpp b/modules/viz/src/interactor_style.hpp
new file mode 100644
index 0000000000..8d01697a87
--- /dev/null
+++ b/modules/viz/src/interactor_style.hpp
@@ -0,0 +1,119 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+// Authors:
+//  * Ozan Tonkal, ozantonkal@gmail.com
+//  * Anatoly Baksheev, Itseez Inc.  myname.mysurname <> mycompany.com
+//
+//M*/
+
+#ifndef __OPENCV_VIZ_INTERACTOR_STYLE_H__
+#define __OPENCV_VIZ_INTERACTOR_STYLE_H__
+
+namespace cv
+{
+    namespace viz
+    {
+        class InteractorStyle : public vtkInteractorStyleTrackballCamera
+        {
+        public:
+            static InteractorStyle *New();
+            virtual ~InteractorStyle() {}
+
+            // this macro defines Superclass, the isA functionality and the safe downcast method
+            vtkTypeMacro(InteractorStyle, vtkInteractorStyleTrackballCamera)
+
+            /** \brief Initialization routine. Must be called before anything else. */
+            virtual void Initialize();
+
+            void setWidgetActorMap(const Ptr<WidgetActorMap>& actors) { widget_actor_map_ = actors; }
+            void registerMouseCallback(void (*callback)(const MouseEvent&, void*), void* cookie = 0);
+            void registerKeyboardCallback(void (*callback)(const KeyboardEvent&, void*), void * cookie = 0);
+            void saveScreenshot(const String &file);
+            void exportScene(const String &file);
+
+        private:
+            /** \brief Set to true after initialization is complete. */
+            bool init_;
+
+            Ptr<WidgetActorMap> widget_actor_map_;
+
+            Vec2i win_size_;
+            Vec2i win_pos_;
+            Vec2i max_win_size_;
+
+            /** \brief Interactor style internal method. Gets called whenever a key is pressed. */
+            virtual void OnChar();
+
+            // Keyboard events
+            virtual void OnKeyDown();
+            virtual void OnKeyUp();
+
+            // mouse button events
+            virtual void OnMouseMove();
+            virtual void OnLeftButtonDown();
+            virtual void OnLeftButtonUp();
+            virtual void OnMiddleButtonDown();
+            virtual void OnMiddleButtonUp();
+            virtual void OnRightButtonDown();
+            virtual void OnRightButtonUp();
+            virtual void OnMouseWheelForward();
+            virtual void OnMouseWheelBackward();
+
+            /** \brief Interactor style internal method. Gets called periodically if a timer is set. */
+            virtual void OnTimer();
+
+            void zoomIn();
+            void zoomOut();
+
+            /** \brief True if we're using red-blue colors for anaglyphic stereo, false if magenta-green. */
+            bool stereo_anaglyph_mask_default_;
+
+            void (*keyboardCallback_)(const KeyboardEvent&, void*);
+            void *keyboard_callback_cookie_;
+
+            void (*mouseCallback_)(const MouseEvent&, void*);
+            void *mouse_callback_cookie_;
+
+            int getModifiers();
+        };
+    }
+}
+
+#endif
diff --git a/modules/viz/src/precomp.hpp b/modules/viz/src/precomp.hpp
new file mode 100644
index 0000000000..d9681ce83b
--- /dev/null
+++ b/modules/viz/src/precomp.hpp
@@ -0,0 +1,324 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+// Authors:
+//  * Ozan Tonkal, ozantonkal@gmail.com
+//  * Anatoly Baksheev, Itseez Inc.  myname.mysurname <> mycompany.com
+//
+//M*/
+
+#ifndef __OPENCV_VIZ_PRECOMP_HPP__
+#define __OPENCV_VIZ_PRECOMP_HPP__
+
+#include <map>
+#include <ctime>
+#include <list>
+#include <vector>
+#include <iomanip>
+#include <limits>
+
+#include <vtkAppendPolyData.h>
+#include <vtkAssemblyPath.h>
+#include <vtkCellData.h>
+#include <vtkLineSource.h>
+#include <vtkPropPicker.h>
+#include <vtkSmartPointer.h>
+#include <vtkDataSet.h>
+#include <vtkPolygon.h>
+#include <vtkUnstructuredGrid.h>
+#include <vtkDiskSource.h>
+#include <vtkPlaneSource.h>
+#include <vtkSphereSource.h>
+#include <vtkArrowSource.h>
+#include <vtkOutlineSource.h>
+#include <vtkTransform.h>
+#include <vtkTransformPolyDataFilter.h>
+#include <vtkTubeFilter.h>
+#include <vtkCubeSource.h>
+#include <vtkAxes.h>
+#include <vtkFloatArray.h>
+#include <vtkDoubleArray.h>
+#include <vtkPointData.h>
+#include <vtkPolyData.h>
+#include <vtkPolyDataReader.h>
+#include <vtkPolyDataMapper.h>
+#include <vtkDataSetMapper.h>
+#include <vtkCellArray.h>
+#include <vtkCommand.h>
+#include <vtkPLYReader.h>
+#include <vtkPolyLine.h>
+#include <vtkVectorText.h>
+#include <vtkFollower.h>
+#include <vtkInteractorStyle.h>
+#include <vtkUnsignedCharArray.h>
+#include <vtkRendererCollection.h>
+#include <vtkPNGWriter.h>
+#include <vtkWindowToImageFilter.h>
+#include <vtkInteractorStyleTrackballCamera.h>
+#include <vtkProperty.h>
+#include <vtkCamera.h>
+#include <vtkPlanes.h>
+#include <vtkImageFlip.h>
+#include <vtkRenderWindow.h>
+#include <vtkTextProperty.h>
+#include <vtkProperty2D.h>
+#include <vtkLODActor.h>
+#include <vtkActor.h>
+#include <vtkTextActor.h>
+#include <vtkRenderWindowInteractor.h>
+#include <vtkMath.h>
+#include <vtkExtractEdges.h>
+#include <vtkFrustumSource.h>
+#include <vtkTextureMapToPlane.h>
+#include <vtkPolyDataNormals.h>
+#include <vtkAlgorithmOutput.h>
+#include <vtkImageMapper.h>
+#include <vtkPoints.h>
+#include <vtkInformation.h>
+#include <vtkInformationVector.h>
+#include <vtkObjectFactory.h>
+#include <vtkPolyDataAlgorithm.h>
+#include <vtkMergeFilter.h>
+#include <vtkDataSetWriter.h>
+#include <vtkErrorCode.h>
+#include <vtkPLYWriter.h>
+#include <vtkSTLWriter.h>
+#include <vtkSimplePointsReader.h>
+#include <vtkPLYReader.h>
+#include <vtkOBJReader.h>
+#include <vtkSTLReader.h>
+#include <vtkPNGReader.h>
+#include <vtkOBJExporter.h>
+#include <vtkVRMLExporter.h>
+#include <vtkTensorGlyph.h>
+#include <vtkImageAlgorithm.h>
+#include <vtkTransformFilter.h>
+#include <vtkConeSource.h>
+#include <vtkElevationFilter.h>
+#include <vtkColorTransferFunction.h>
+#include <vtkStreamingDemandDrivenPipeline.h>
+
+#if !defined(_WIN32) || defined(__CYGWIN__)
+# include <unistd.h> /* unlink */
+#else
+# include <io.h> /* unlink */
+#endif
+
+#include <vtk/vtkOBJWriter.h>
+#include <vtk/vtkXYZWriter.h>
+#include <vtk/vtkCloudMatSink.h>
+#include <vtk/vtkCloudMatSource.h>
+#include <vtk/vtkTrajectorySource.h>
+#include <vtk/vtkImageMatSource.h>
+
+#include <opencv2/core/core.hpp>
+#include <opencv2/viz/vizcore.hpp>
+#include <opencv2/viz/widget_accessor.hpp>
+
+
+namespace cv
+{
+    namespace viz
+    {
+        typedef std::map<String, vtkSmartPointer<vtkProp> > WidgetActorMap;
+        typedef std::map<String, Viz3d> VizMap;
+
+        class VizStorage
+        {
+        public:
+            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;
+        };
+
+        template<typename _Tp> inline _Tp normalized(const _Tp& v) { return v * 1/norm(v); }
+
+        template<typename _Tp> inline bool isNan(const _Tp* data)
+        {
+            return isNan(data[0]) || isNan(data[1]) || isNan(data[2]);
+        }
+
+        inline vtkSmartPointer<vtkActor> getActor(const Widget3D& widget)
+        {
+            return vtkActor::SafeDownCast(WidgetAccessor::getProp(widget));
+        }
+
+        inline vtkSmartPointer<vtkPolyData> getPolyData(const Widget3D& widget)
+        {
+            vtkSmartPointer<vtkMapper> mapper = getActor(widget)->GetMapper();
+            return vtkPolyData::SafeDownCast(mapper->GetInput());
+        }
+
+        inline vtkSmartPointer<vtkMatrix4x4> vtkmatrix(const cv::Matx44d &matrix)
+        {
+            vtkSmartPointer<vtkMatrix4x4> vtk_matrix = vtkSmartPointer<vtkMatrix4x4>::New();
+            vtk_matrix->DeepCopy(matrix.val);
+            return vtk_matrix;
+        }
+
+        inline Color vtkcolor(const Color& color)
+        {
+            Color scaled_color = color * (1.0/255.0);
+            std::swap(scaled_color[0], scaled_color[2]);
+            return scaled_color;
+        }
+
+        inline Vec3d get_random_vec(double from = -10.0, double to = 10.0)
+        {
+            RNG& rng = theRNG();
+            return Vec3d(rng.uniform(from, to), rng.uniform(from, to), rng.uniform(from, to));
+        }
+
+        struct VtkUtils
+        {
+            template<class Filter>
+            static void SetInputData(vtkSmartPointer<Filter> filter, vtkPolyData* polydata)
+            {
+            #if VTK_MAJOR_VERSION <= 5
+                filter->SetInput(polydata);
+            #else
+                filter->SetInputData(polydata);
+            #endif
+            }
+            template<class Filter>
+            static void SetSourceData(vtkSmartPointer<Filter> filter, vtkPolyData* polydata)
+            {
+            #if VTK_MAJOR_VERSION <= 5
+                filter->SetSource(polydata);
+            #else
+                filter->SetSourceData(polydata);
+            #endif
+            }
+
+            template<class Filter>
+            static void SetInputData(vtkSmartPointer<Filter> filter, vtkImageData* polydata)
+            {
+            #if VTK_MAJOR_VERSION <= 5
+                filter->SetInput(polydata);
+            #else
+                filter->SetInputData(polydata);
+            #endif
+            }
+
+            template<class Filter>
+            static void AddInputData(vtkSmartPointer<Filter> filter, vtkPolyData *polydata)
+            {
+            #if VTK_MAJOR_VERSION <= 5
+                filter->AddInput(polydata);
+            #else
+                filter->AddInputData(polydata);
+            #endif
+            }
+
+            static vtkSmartPointer<vtkUnsignedCharArray> FillScalars(size_t size, const Color& color)
+            {
+                Vec3b rgb = Vec3d(color[2], color[1], color[0]);
+                Vec3b* color_data = new Vec3b[size];
+                std::fill(color_data, color_data + size, rgb);
+
+                vtkSmartPointer<vtkUnsignedCharArray> scalars = vtkSmartPointer<vtkUnsignedCharArray>::New();
+                scalars->SetName("Colors");
+                scalars->SetNumberOfComponents(3);
+                scalars->SetNumberOfTuples(size);
+                scalars->SetArray(color_data->val, size * 3, 0);
+                return scalars;
+            }
+
+            static vtkSmartPointer<vtkPolyData> ComputeNormals(vtkSmartPointer<vtkPolyData> polydata)
+            {
+                vtkSmartPointer<vtkPolyDataNormals> normals_generator = vtkSmartPointer<vtkPolyDataNormals>::New();
+                normals_generator->ComputePointNormalsOn();
+                normals_generator->ComputeCellNormalsOff();
+                normals_generator->SetFeatureAngle(0.1);
+                normals_generator->SetSplitting(0);
+                normals_generator->SetConsistency(1);
+                normals_generator->SetAutoOrientNormals(0);
+                normals_generator->SetFlipNormals(0);
+                normals_generator->SetNonManifoldTraversal(1);
+                VtkUtils::SetInputData(normals_generator, polydata);
+                normals_generator->Update();
+                return normals_generator->GetOutput();
+            }
+
+            static vtkSmartPointer<vtkPolyData> TransformPolydata(vtkSmartPointer<vtkAlgorithmOutput> algorithm_output_port, const Affine3d& pose)
+            {
+                vtkSmartPointer<vtkTransform> transform = vtkSmartPointer<vtkTransform>::New();
+                transform->SetMatrix(vtkmatrix(pose.matrix));
+
+                vtkSmartPointer<vtkTransformPolyDataFilter> transform_filter = vtkSmartPointer<vtkTransformPolyDataFilter>::New();
+                transform_filter->SetTransform(transform);
+                transform_filter->SetInputConnection(algorithm_output_port);
+                transform_filter->Update();
+                return transform_filter->GetOutput();
+            }
+
+            static vtkSmartPointer<vtkPolyData> TransformPolydata(vtkSmartPointer<vtkPolyData> polydata, const Affine3d& pose)
+            {
+                vtkSmartPointer<vtkTransform> transform = vtkSmartPointer<vtkTransform>::New();
+                transform->SetMatrix(vtkmatrix(pose.matrix));
+
+                vtkSmartPointer<vtkTransformPolyDataFilter> transform_filter = vtkSmartPointer<vtkTransformPolyDataFilter>::New();
+                VtkUtils::SetInputData(transform_filter, polydata);
+                transform_filter->SetTransform(transform);
+                transform_filter->Update();
+                return transform_filter->GetOutput();
+            }
+        };
+    }
+}
+
+#include "interactor_style.hpp"
+#include "vizimpl.hpp"
+
+
+#endif
diff --git a/modules/viz/src/shapes.cpp b/modules/viz/src/shapes.cpp
new file mode 100644
index 0000000000..f3d24f757c
--- /dev/null
+++ b/modules/viz/src/shapes.cpp
@@ -0,0 +1,1088 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+// Authors:
+//  * Ozan Tonkal, ozantonkal@gmail.com
+//  * Anatoly Baksheev, Itseez Inc.  myname.mysurname <> mycompany.com
+//
+//M*/
+
+#include "precomp.hpp"
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// line widget implementation
+cv::viz::WLine::WLine(const Point3d &pt1, const Point3d &pt2, const Color &color)
+{
+    vtkSmartPointer<vtkLineSource> line = vtkSmartPointer<vtkLineSource>::New();
+    line->SetPoint1(pt1.x, pt1.y, pt1.z);
+    line->SetPoint2(pt2.x, pt2.y, pt2.z);
+    line->Update();
+
+    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
+    VtkUtils::SetInputData(mapper, line->GetOutput());
+
+    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
+    actor->SetMapper(mapper);
+
+    WidgetAccessor::setProp(*this, actor);
+    setColor(color);
+}
+
+template<> cv::viz::WLine cv::viz::Widget::cast<cv::viz::WLine>()
+{
+    Widget3D widget = this->cast<Widget3D>();
+    return static_cast<WLine&>(widget);
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// sphere widget implementation
+
+cv::viz::WSphere::WSphere(const Point3d &center, double radius, int sphere_resolution, const Color &color)
+{
+    vtkSmartPointer<vtkSphereSource> sphere = vtkSmartPointer<vtkSphereSource>::New();
+    sphere->SetRadius(radius);
+    sphere->SetCenter(center.x, center.y, center.z);
+    sphere->SetPhiResolution(sphere_resolution);
+    sphere->SetThetaResolution(sphere_resolution);
+    sphere->LatLongTessellationOff();
+    sphere->Update();
+
+    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
+    VtkUtils::SetInputData(mapper, sphere->GetOutput());
+
+    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
+    actor->SetMapper(mapper);
+
+    WidgetAccessor::setProp(*this, actor);
+    setColor(color);
+}
+
+template<> cv::viz::WSphere cv::viz::Widget::cast<cv::viz::WSphere>()
+{
+    Widget3D widget = this->cast<Widget3D>();
+    return static_cast<WSphere&>(widget);
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// plane widget implementation
+
+cv::viz::WPlane::WPlane(const Size2d& size, const Color &color)
+{
+    vtkSmartPointer<vtkPlaneSource> plane = vtkSmartPointer<vtkPlaneSource>::New();
+    plane->SetOrigin(-0.5 * size.width, -0.5 * size.height, 0.0);
+    plane->SetPoint1( 0.5 * size.width, -0.5 * size.height, 0.0);
+    plane->SetPoint2(-0.5 * size.width,  0.5 * size.height, 0.0);
+    plane->Update();
+
+    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
+    VtkUtils::SetInputData(mapper, plane->GetOutput());
+
+    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
+    actor->SetMapper(mapper);
+    actor->GetProperty()->LightingOff();
+
+    WidgetAccessor::setProp(*this, actor);
+    setColor(color);
+}
+
+cv::viz::WPlane::WPlane(const Point3d& center, const Vec3d& normal, const Vec3d& new_yaxis, const Size2d& size, const Color &color)
+{
+    Vec3d zvec = normalize(normal);
+    Vec3d xvec = normalize(new_yaxis.cross(zvec));
+    Vec3d yvec = zvec.cross(xvec);
+
+    WPlane plane(size, color);
+    plane.applyTransform(makeTransformToGlobal(xvec, yvec, zvec, center));
+    *this = plane;
+}
+
+template<> cv::viz::WPlane cv::viz::Widget::cast<cv::viz::WPlane>()
+{
+    Widget3D widget = this->cast<Widget3D>();
+    return static_cast<WPlane&>(widget);
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// arrow widget implementation
+
+cv::viz::WArrow::WArrow(const Point3d& pt1, const Point3d& pt2, double thickness, const Color &color)
+{
+    vtkSmartPointer<vtkArrowSource> arrow_source = vtkSmartPointer<vtkArrowSource>::New();
+    arrow_source->SetShaftRadius(thickness);
+    arrow_source->SetTipRadius(thickness * 3.0);
+    arrow_source->SetTipLength(thickness * 10.0);
+
+    Vec3d arbitrary = get_random_vec();
+    Vec3d start_point(pt1.x, pt1.y, pt1.z), end_point(pt2.x, pt2.y, pt2.z);
+
+    double length = norm(end_point - start_point);
+
+    Vec3d xvec = normalized(end_point - start_point);
+    Vec3d zvec = normalized(xvec.cross(arbitrary));
+    Vec3d yvec = zvec.cross(xvec);
+
+    Matx33d R = makeTransformToGlobal(xvec, yvec, zvec).rotation();
+    Affine3d transform_with_scale(R * length, start_point);
+
+    vtkSmartPointer<vtkPolyData> polydata = VtkUtils::TransformPolydata(arrow_source->GetOutputPort(), transform_with_scale);
+
+    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
+    VtkUtils::SetInputData(mapper, polydata);
+
+    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
+    actor->SetMapper(mapper);
+
+    WidgetAccessor::setProp(*this, actor);
+    setColor(color);
+}
+
+template<> cv::viz::WArrow cv::viz::Widget::cast<cv::viz::WArrow>()
+{
+    Widget3D widget = this->cast<Widget3D>();
+    return static_cast<WArrow&>(widget);
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// circle widget implementation
+
+cv::viz::WCircle::WCircle(double radius, double thickness, const Color &color)
+{
+    vtkSmartPointer<vtkDiskSource> disk = vtkSmartPointer<vtkDiskSource>::New();
+    disk->SetCircumferentialResolution(30);
+    disk->SetInnerRadius(radius - thickness);
+    disk->SetOuterRadius(radius + thickness);
+    disk->Update();
+
+    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
+    VtkUtils::SetInputData(mapper, disk->GetOutput());
+
+    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
+    actor->GetProperty()->LightingOff();
+    actor->SetMapper(mapper);
+
+    WidgetAccessor::setProp(*this, actor);
+    setColor(color);
+
+}
+
+cv::viz::WCircle::WCircle(double radius, const Point3d& center, const Vec3d& normal, double thickness, const Color &color)
+{
+    Vec3d arbitrary = get_random_vec();
+    Vec3d zvec = normalized(normal);
+    Vec3d xvec = normalized(zvec.cross(arbitrary));
+    Vec3d yvec = zvec.cross(xvec);
+
+    WCircle circle(radius, thickness, color);
+    circle.applyTransform(makeTransformToGlobal(xvec, yvec, zvec, center));
+    *this = circle;
+}
+
+template<> cv::viz::WCircle cv::viz::Widget::cast<cv::viz::WCircle>()
+{
+    Widget3D widget = this->cast<Widget3D>();
+    return static_cast<WCircle&>(widget);
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// WCone widget implementation
+
+cv::viz::WCone::WCone(double length, double radius, int resolution, const Color &color)
+{
+    vtkSmartPointer<vtkConeSource> cone_source = vtkSmartPointer<vtkConeSource>::New();
+    cone_source->SetCenter(length*0.5, 0.0, 0.0);
+    cone_source->SetHeight(length);
+    cone_source->SetRadius(radius);
+    cone_source->SetResolution(resolution);
+    cone_source->Update();
+
+    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
+    VtkUtils::SetInputData(mapper, cone_source->GetOutput());
+
+    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
+    actor->SetMapper(mapper);
+
+    WidgetAccessor::setProp(*this, actor);
+    setColor(color);
+}
+
+cv::viz::WCone::WCone(double radius, const Point3d& center, const Point3d& tip, int resolution, const Color &color)
+{
+    Vec3d arbitrary = get_random_vec();
+    Vec3d xvec = normalized(Vec3d(tip - center));
+    Vec3d zvec = normalized(xvec.cross(arbitrary));
+    Vec3d yvec = zvec.cross(xvec);
+
+    WCone circle(norm(tip - center), radius, resolution, color);
+    circle.applyTransform(makeTransformToGlobal(xvec, yvec, zvec, center));
+    *this = circle;
+}
+
+template<> cv::viz::WCone cv::viz::Widget::cast<cv::viz::WCone>()
+{
+    Widget3D widget = this->cast<Widget3D>();
+    return static_cast<WCone&>(widget);
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// cylinder widget implementation
+
+cv::viz::WCylinder::WCylinder(const Point3d& axis_point1, const Point3d& axis_point2, double radius, int numsides, const Color &color)
+{
+    vtkSmartPointer<vtkLineSource> line = vtkSmartPointer<vtkLineSource>::New();
+    line->SetPoint1(axis_point1.x, axis_point1.y, axis_point1.z);
+    line->SetPoint2(axis_point2.x, axis_point2.y, axis_point2.z);
+
+    vtkSmartPointer<vtkTubeFilter> tuber = vtkSmartPointer<vtkTubeFilter>::New();
+    tuber->SetInputConnection(line->GetOutputPort());
+    tuber->SetNumberOfSides(numsides);
+    tuber->SetRadius(radius);
+    tuber->Update();
+
+    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
+    VtkUtils::SetInputData(mapper, tuber->GetOutput());
+
+    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
+    actor->SetMapper(mapper);
+
+    WidgetAccessor::setProp(*this, actor);
+    setColor(color);
+}
+
+template<> cv::viz::WCylinder cv::viz::Widget::cast<cv::viz::WCylinder>()
+{
+    Widget3D widget = this->cast<Widget3D>();
+    return static_cast<WCylinder&>(widget);
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// cylinder widget implementation
+
+cv::viz::WCube::WCube(const Point3d& min_point, const Point3d& max_point, bool wire_frame, const Color &color)
+{
+    double bounds[6];
+    bounds[0] = std::min(min_point.x, max_point.x);
+    bounds[1] = std::max(min_point.x, max_point.x);
+    bounds[2] = std::min(min_point.y, max_point.y);
+    bounds[3] = std::max(min_point.y, max_point.y);
+    bounds[4] = std::min(min_point.z, max_point.z);
+    bounds[5] = std::max(min_point.z, max_point.z);
+
+    vtkSmartPointer<vtkPolyDataAlgorithm> cube;
+    if (wire_frame)
+    {
+        cube = vtkSmartPointer<vtkOutlineSource>::New();
+        vtkOutlineSource::SafeDownCast(cube)->SetBounds(bounds);
+    }
+    else
+    {
+        cube = vtkSmartPointer<vtkCubeSource>::New();
+        vtkCubeSource::SafeDownCast(cube)->SetBounds(bounds);
+    }
+    cube->Update();
+
+    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
+    VtkUtils::SetInputData(mapper, cube->GetOutput());
+
+    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
+    actor->SetMapper(mapper);
+
+    WidgetAccessor::setProp(*this, actor);
+    setColor(color);
+}
+
+template<> cv::viz::WCube cv::viz::Widget::cast<cv::viz::WCube>()
+{
+    Widget3D widget = this->cast<Widget3D>();
+    return static_cast<WCube&>(widget);
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// coordinate system widget implementation
+
+cv::viz::WCoordinateSystem::WCoordinateSystem(double scale)
+{
+    vtkSmartPointer<vtkAxes> axes = vtkSmartPointer<vtkAxes>::New();
+    axes->SetOrigin(0, 0, 0);
+    axes->SetScaleFactor(scale);
+    axes->Update();
+
+    vtkSmartPointer<vtkUnsignedCharArray> colors = vtkSmartPointer<vtkUnsignedCharArray>::New();
+    colors->SetNumberOfComponents(3);
+    colors->InsertNextTuple3(255, 0, 0);
+    colors->InsertNextTuple3(255, 0, 0);
+    colors->InsertNextTuple3(0, 255, 0);
+    colors->InsertNextTuple3(0, 255, 0);
+    colors->InsertNextTuple3(0, 0, 255);
+    colors->InsertNextTuple3(0, 0, 255);
+
+    vtkSmartPointer<vtkPolyData> polydata = axes->GetOutput();
+    polydata->GetPointData()->SetScalars(colors);
+
+    vtkSmartPointer<vtkTubeFilter> tube_filter = vtkSmartPointer<vtkTubeFilter>::New();
+    VtkUtils::SetInputData(tube_filter, polydata);
+    tube_filter->SetRadius(axes->GetScaleFactor() / 50.0);
+    tube_filter->SetNumberOfSides(6);
+    tube_filter->Update();
+
+    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
+    mapper->SetScalarModeToUsePointData();
+    VtkUtils::SetInputData(mapper, tube_filter->GetOutput());
+
+    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
+    actor->SetMapper(mapper);
+
+    WidgetAccessor::setProp(*this, actor);
+}
+
+template<> cv::viz::WCoordinateSystem cv::viz::Widget::cast<cv::viz::WCoordinateSystem>()
+{
+    Widget3D widget = this->cast<Widget3D>();
+    return static_cast<WCoordinateSystem&>(widget);
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// polyline widget implementation
+
+cv::viz::WPolyLine::WPolyLine(InputArray _points, const Color &color)
+{
+    CV_Assert(_points.type() == CV_32FC3 || _points.type() == CV_32FC4 || _points.type() == CV_64FC3 || _points.type() == CV_64FC4);
+
+    const float *fpoints = _points.getMat().ptr<float>();
+    const double *dpoints = _points.getMat().ptr<double>();
+    size_t total = _points.total();
+    int s_chs = _points.channels();
+
+    vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
+    points->SetDataType(_points.depth() == CV_32F ? VTK_FLOAT : VTK_DOUBLE);
+    points->SetNumberOfPoints(total);
+
+    if (_points.depth() == CV_32F)
+        for(size_t i = 0; i < total; ++i, fpoints += s_chs)
+            points->SetPoint(i, fpoints);
+
+    if (_points.depth() == CV_64F)
+        for(size_t i = 0; i < total; ++i, dpoints += s_chs)
+            points->SetPoint(i, dpoints);
+
+    vtkSmartPointer<vtkCellArray> cell_array = vtkSmartPointer<vtkCellArray>::New();
+    cell_array->Allocate(cell_array->EstimateSize(1, total));
+    cell_array->InsertNextCell(total);
+    for(size_t i = 0; i < total; ++i)
+        cell_array->InsertCellPoint(i);
+
+    vtkSmartPointer<vtkUnsignedCharArray> scalars =  VtkUtils::FillScalars(total, color);
+
+    vtkSmartPointer<vtkPolyData> polydata = vtkSmartPointer<vtkPolyData>::New();
+    polydata->SetPoints(points);
+    polydata->SetLines(cell_array);
+    polydata->GetPointData()->SetScalars(scalars);
+
+    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
+    VtkUtils::SetInputData(mapper, polydata);
+    mapper->SetScalarRange(0, 255);
+
+    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
+    actor->SetMapper(mapper);
+
+    WidgetAccessor::setProp(*this, actor);
+}
+
+template<> cv::viz::WPolyLine cv::viz::Widget::cast<cv::viz::WPolyLine>()
+{
+    Widget3D widget = this->cast<Widget3D>();
+    return static_cast<WPolyLine&>(widget);
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// grid widget implementation
+
+
+cv::viz::WGrid::WGrid(const Vec2i &cells, const Vec2d &cells_spacing, const Color &color)
+{
+    vtkSmartPointer<vtkImageData> grid_data = vtkSmartPointer<vtkImageData>::New();
+
+    // Add 1 to dimensions because in ImageData dimensions is the number of lines
+    // - however here it means number of cells
+    grid_data->SetDimensions(cells[0]+1, cells[1]+1, 1);
+    grid_data->SetSpacing(cells_spacing[0], cells_spacing[1], 0.);
+
+    // Set origin of the grid to be the middle of the grid
+    grid_data->SetOrigin(cells[0] * cells_spacing[0] * (-0.5), cells[1] * cells_spacing[1] * (-0.5), 0);
+
+    // Extract the edges so we have the grid
+    vtkSmartPointer<vtkExtractEdges> extract_edges = vtkSmartPointer<vtkExtractEdges>::New();
+    VtkUtils::SetInputData(extract_edges, grid_data);
+    extract_edges->Update();
+
+    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
+    VtkUtils::SetInputData(mapper, extract_edges->GetOutput());
+
+    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
+    actor->SetMapper(mapper);
+
+    WidgetAccessor::setProp(*this, actor);
+    setColor(color);
+}
+
+cv::viz::WGrid::WGrid(const Point3d& center, const Vec3d& normal, const Vec3d& new_yaxis, const Vec2i &cells, const Vec2d &cells_spacing, const Color &color)
+{
+    Vec3d zvec = normalize(normal);
+    Vec3d xvec = normalize(new_yaxis.cross(zvec));
+    Vec3d yvec = zvec.cross(xvec);
+
+    WGrid grid(cells, cells_spacing, color);
+    grid.applyTransform(makeTransformToGlobal(xvec, yvec, zvec, center));
+    *this = grid;
+}
+
+template<> cv::viz::WGrid cv::viz::Widget::cast<cv::viz::WGrid>()
+{
+    Widget3D widget = this->cast<Widget3D>();
+    return static_cast<WGrid&>(widget);
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// text3D widget implementation
+
+cv::viz::WText3D::WText3D(const String &text, const Point3d &position, double text_scale, bool face_camera, const Color &color)
+{
+    vtkSmartPointer<vtkVectorText> textSource = vtkSmartPointer<vtkVectorText>::New();
+    textSource->SetText(text.c_str());
+    textSource->Update();
+
+    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
+    mapper->SetInputConnection(textSource->GetOutputPort());
+
+    if (face_camera)
+    {
+        vtkSmartPointer<vtkFollower> actor = vtkSmartPointer<vtkFollower>::New();
+        actor->SetMapper(mapper);
+        actor->SetPosition(position.x, position.y, position.z);
+        actor->SetScale(text_scale);
+        WidgetAccessor::setProp(*this, actor);
+    }
+    else
+    {
+        vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
+        actor->SetMapper(mapper);
+        actor->SetPosition(position.x, position.y, position.z);
+        actor->SetScale(text_scale);
+        actor->GetProperty()->LightingOff();
+        WidgetAccessor::setProp(*this, actor);
+    }
+
+    setColor(color);
+}
+
+void cv::viz::WText3D::setText(const String &text)
+{
+    vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this));
+    CV_Assert("This widget does not support text." && actor);
+
+    // Update text source
+    vtkPolyDataMapper *mapper = vtkPolyDataMapper::SafeDownCast(actor->GetMapper());
+    vtkVectorText * textSource = vtkVectorText::SafeDownCast(mapper->GetInputConnection(0,0)->GetProducer());
+    CV_Assert("This widget does not support text." && textSource);
+
+    textSource->SetText(text.c_str());
+    textSource->Modified();
+    textSource->Update();
+}
+
+cv::String cv::viz::WText3D::getText() const
+{
+    vtkFollower *actor = vtkFollower::SafeDownCast(WidgetAccessor::getProp(*this));
+    CV_Assert("This widget does not support text." && actor);
+
+    vtkPolyDataMapper *mapper = vtkPolyDataMapper::SafeDownCast(actor->GetMapper());
+    vtkVectorText * textSource = vtkVectorText::SafeDownCast(mapper->GetInputConnection(0,0)->GetProducer());
+    CV_Assert("This widget does not support text." && textSource);
+
+    return textSource->GetText();
+}
+
+template<> cv::viz::WText3D cv::viz::Widget::cast<cv::viz::WText3D>()
+{
+    Widget3D widget = this->cast<Widget3D>();
+    return static_cast<WText3D&>(widget);
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// text widget implementation
+
+cv::viz::WText::WText(const String &text, const Point &pos, int font_size, const Color &color)
+{
+    vtkSmartPointer<vtkTextActor> actor = vtkSmartPointer<vtkTextActor>::New();
+    actor->SetDisplayPosition(pos.x, pos.y);
+    actor->SetInput(text.c_str());
+
+    actor->GetProperty()->SetDisplayLocationToForeground();
+
+    vtkSmartPointer<vtkTextProperty> tprop = actor->GetTextProperty();
+    tprop->SetFontSize(font_size);
+    tprop->SetFontFamilyToCourier();
+    tprop->SetJustificationToLeft();
+    tprop->BoldOn();
+
+    Color c = vtkcolor(color);
+    tprop->SetColor(c.val);
+
+    WidgetAccessor::setProp(*this, actor);
+}
+
+template<> cv::viz::WText cv::viz::Widget::cast<cv::viz::WText>()
+{
+    Widget2D widget = this->cast<Widget2D>();
+    return static_cast<WText&>(widget);
+}
+
+void cv::viz::WText::setText(const String &text)
+{
+    vtkTextActor *actor = vtkTextActor::SafeDownCast(WidgetAccessor::getProp(*this));
+    CV_Assert("This widget does not support text." && actor);
+    actor->SetInput(text.c_str());
+}
+
+cv::String cv::viz::WText::getText() const
+{
+    vtkTextActor *actor = vtkTextActor::SafeDownCast(WidgetAccessor::getProp(*this));
+    CV_Assert("This widget does not support text." && actor);
+    return actor->GetInput();
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// image overlay widget implementation
+
+cv::viz::WImageOverlay::WImageOverlay(InputArray image, const Rect &rect)
+{
+    CV_Assert(!image.empty() && image.depth() == CV_8U);
+    vtkSmartPointer<vtkImageMatSource> source = vtkSmartPointer<vtkImageMatSource>::New();
+    source->SetImage(image);
+    Size sz = image.size();
+
+    // Scale the image based on the Rect, and flip to match y-ais orientation
+    vtkSmartPointer<vtkTransform> transform = vtkSmartPointer<vtkTransform>::New();
+    transform->Scale(sz.width/(double)rect.width, sz.height/(double)rect.height, 1.0);
+    transform->RotateX(180);
+
+    vtkSmartPointer<vtkImageReslice> image_reslice = vtkSmartPointer<vtkImageReslice>::New();
+    image_reslice->SetResliceTransform(transform);
+    image_reslice->SetInputConnection(source->GetOutputPort());
+    image_reslice->SetOutputDimensionality(2);
+    image_reslice->InterpolateOn();
+    image_reslice->AutoCropOutputOn();
+    image_reslice->Update();
+
+    vtkSmartPointer<vtkImageMapper> image_mapper = vtkSmartPointer<vtkImageMapper>::New();
+    image_mapper->SetInputConnection(image_reslice->GetOutputPort());
+    image_mapper->SetColorWindow(255); // OpenCV color
+    image_mapper->SetColorLevel(127.5);
+
+    vtkSmartPointer<vtkActor2D> actor = vtkSmartPointer<vtkActor2D>::New();
+    actor->SetMapper(image_mapper);
+    actor->SetPosition(rect.x, rect.y);
+    actor->GetProperty()->SetDisplayLocationToForeground();
+
+    WidgetAccessor::setProp(*this, actor);
+}
+
+void cv::viz::WImageOverlay::setImage(InputArray image)
+{
+    CV_Assert(!image.empty() && image.depth() == CV_8U);
+
+    vtkActor2D *actor = vtkActor2D::SafeDownCast(WidgetAccessor::getProp(*this));
+    CV_Assert("This widget does not support overlay image." && actor);
+
+    vtkImageMapper *mapper = vtkImageMapper::SafeDownCast(actor->GetMapper());
+    CV_Assert("This widget does not support overlay image." && mapper);
+    \
+    Vec6i extent;
+    mapper->GetInput()->GetExtent(extent.val);
+    Size size(extent[1], extent[3]);
+
+    // Create the vtk image and set its parameters based on input image
+    vtkSmartPointer<vtkImageMatSource> source = vtkSmartPointer<vtkImageMatSource>::New();
+    source->SetImage(image);
+    Size sz = image.size();
+
+    // Scale the image based on the Rect, and flip to match y-ais orientation
+    vtkSmartPointer<vtkTransform> transform = vtkSmartPointer<vtkTransform>::New();
+    transform->Scale(sz.width/(double)size.width, sz.height/(double)size.height, 1.0);
+    transform->RotateX(180);
+
+    vtkSmartPointer<vtkImageReslice> image_reslice = vtkSmartPointer<vtkImageReslice>::New();
+    image_reslice->SetResliceTransform(transform);
+    image_reslice->SetInputConnection(source->GetOutputPort());
+    image_reslice->SetOutputDimensionality(2);
+    image_reslice->InterpolateOn();
+    image_reslice->AutoCropOutputOn();
+    image_reslice->Update();
+
+    mapper->SetInputConnection(image_reslice->GetOutputPort());
+}
+
+template<> cv::viz::WImageOverlay cv::viz::Widget::cast<cv::viz::WImageOverlay>()
+{
+    Widget2D widget = this->cast<Widget2D>();
+    return static_cast<WImageOverlay&>(widget);
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// image 3D widget implementation
+
+cv::viz::WImage3D::WImage3D(InputArray image, const Size2d &size)
+{
+    CV_Assert(!image.empty() && image.depth() == CV_8U);
+
+    vtkSmartPointer<vtkImageMatSource> source = vtkSmartPointer<vtkImageMatSource>::New();
+    source->SetImage(image);
+
+    vtkSmartPointer<vtkTexture> texture = vtkSmartPointer<vtkTexture>::New();
+    texture->SetInputConnection(source->GetOutputPort());
+
+    vtkSmartPointer<vtkPlaneSource> plane = vtkSmartPointer<vtkPlaneSource>::New();
+    plane->SetOrigin(-0.5 * size.width, -0.5 * size.height, 0.0);
+    plane->SetPoint1( 0.5 * size.width, -0.5 * size.height, 0.0);
+    plane->SetPoint2(-0.5 * size.width,  0.5 * size.height, 0.0);
+
+    vtkSmartPointer<vtkTextureMapToPlane> textured_plane = vtkSmartPointer<vtkTextureMapToPlane>::New();
+    textured_plane->SetInputConnection(plane->GetOutputPort());
+
+    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
+    mapper->SetInputConnection(textured_plane->GetOutputPort());
+
+    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
+    actor->SetMapper(mapper);
+    actor->SetTexture(texture);
+    actor->GetProperty()->ShadingOff();
+    actor->GetProperty()->LightingOff();
+
+    WidgetAccessor::setProp(*this, actor);
+}
+
+cv::viz::WImage3D::WImage3D(InputArray image, const Size2d &size, const Vec3d &center, const Vec3d &normal, const Vec3d &up_vector)
+{
+    CV_Assert(!image.empty() && image.depth() == CV_8U);
+
+    // Compute the transformation matrix for drawing the camera frame in a scene
+    Vec3d n = normalize(normal);
+    Vec3d u = normalize(up_vector.cross(n));
+    Vec3d v = n.cross(u);
+    Affine3d pose = makeTransformToGlobal(u, v, n, center);
+
+    WImage3D image3d(image, size);
+    image3d.applyTransform(pose);
+    *this = image3d;
+}
+
+void cv::viz::WImage3D::setImage(InputArray image)
+{
+    CV_Assert(!image.empty() && image.depth() == CV_8U);
+
+    vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this));
+    CV_Assert("This widget does not support 3D image." && actor);
+
+    vtkSmartPointer<vtkImageMatSource> source = vtkSmartPointer<vtkImageMatSource>::New();
+    source->SetImage(image);
+
+    vtkSmartPointer<vtkTexture> texture = vtkSmartPointer<vtkTexture>::New();
+    texture->SetInputConnection(source->GetOutputPort());
+
+    actor->SetTexture(texture);
+}
+
+template<> cv::viz::WImage3D cv::viz::Widget::cast<cv::viz::WImage3D>()
+{
+    Widget3D widget = this->cast<Widget3D>();
+    return static_cast<WImage3D&>(widget);
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// camera position widget implementation
+
+namespace  cv  { namespace viz { namespace
+{
+    struct CameraPositionUtils
+    {
+        static vtkSmartPointer<vtkPolyData> createFrustum(double aspect_ratio, double fovy, double scale)
+        {
+            vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New();
+            camera->SetViewAngle(fovy);
+            camera->SetPosition(0.0, 0.0, 0.0);
+            camera->SetViewUp(0.0, 1.0, 0.0);
+            camera->SetFocalPoint(0.0, 0.0, 1.0);
+            camera->SetClippingRange(1e-9, scale);
+
+            double planes_array[24];
+            camera->GetFrustumPlanes(aspect_ratio, planes_array);
+
+            vtkSmartPointer<vtkPlanes> planes = vtkSmartPointer<vtkPlanes>::New();
+            planes->SetFrustumPlanes(planes_array);
+
+            vtkSmartPointer<vtkFrustumSource> frustumSource = vtkSmartPointer<vtkFrustumSource>::New();
+            frustumSource->SetPlanes(planes);
+
+            vtkSmartPointer<vtkExtractEdges> extract_edges = vtkSmartPointer<vtkExtractEdges>::New();
+            extract_edges->SetInputConnection(frustumSource->GetOutputPort());
+            extract_edges->Update();
+
+            return extract_edges->GetOutput();
+        }
+
+        static Mat ensureColorImage(InputArray image)
+        {
+            Mat color(image.size(), CV_8UC3);
+            if (image.channels() == 1)
+            {
+                Vec3b *drow = color.ptr<Vec3b>();
+                for(int y = 0; y < color.rows; ++y)
+                {
+                    const unsigned char *srow = image.getMat().ptr<unsigned char>(y);
+                    const unsigned char *send = srow + color.cols;
+                    for(;srow < send;)
+                        *drow++ = Vec3b::all(*srow++);
+                }
+            }
+            else
+                image.getMat().copyTo(color);
+            return color;
+        }
+    };
+}}}
+
+cv::viz::WCameraPosition::WCameraPosition(double scale)
+{
+    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
+    VtkUtils::SetInputData(mapper, getPolyData(WCoordinateSystem(scale)));
+    mapper->SetScalarModeToUsePointData();
+
+    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
+    actor->SetMapper(mapper);
+
+    WidgetAccessor::setProp(*this, actor);
+}
+
+cv::viz::WCameraPosition::WCameraPosition(const Matx33d &K, double scale, const Color &color)
+{
+    double f_x = K(0,0), f_y = K(1,1), c_y = K(1,2);
+
+    // Assuming that this is an ideal camera (c_y and c_x are at the center of the image)
+    double fovy = 2.0 * atan2(c_y, f_y) * 180 / CV_PI;
+    double aspect_ratio = f_y / f_x;
+
+    vtkSmartPointer<vtkPolyData> polydata = CameraPositionUtils::createFrustum(aspect_ratio, fovy, scale);
+
+    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
+    VtkUtils::SetInputData(mapper, polydata);
+
+    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
+    actor->SetMapper(mapper);
+
+    WidgetAccessor::setProp(*this, actor);
+    setColor(color);
+}
+
+cv::viz::WCameraPosition::WCameraPosition(const Vec2d &fov, double scale, const Color &color)
+{
+    double aspect_ratio = tan(fov[0] * 0.5) / tan(fov[1] * 0.5);
+    double fovy = fov[1] * 180 / CV_PI;
+
+    vtkSmartPointer<vtkPolyData> polydata = CameraPositionUtils::createFrustum(aspect_ratio, fovy, scale);
+
+    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
+    VtkUtils::SetInputData(mapper, polydata);
+
+    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
+    actor->SetMapper(mapper);
+
+    WidgetAccessor::setProp(*this, actor);
+    setColor(color);
+}
+
+cv::viz::WCameraPosition::WCameraPosition(const Matx33d &K, InputArray _image, double scale, const Color &color)
+{
+    CV_Assert(!_image.empty() && _image.depth() == CV_8U);
+    Mat image = CameraPositionUtils::ensureColorImage(_image);
+    image.at<Vec3b>(0, 0) = Vec3d(color.val); //workaround of VTK limitation
+
+    double f_y = K(1,1), c_y = K(1,2);
+    // Assuming that this is an ideal camera (c_y and c_x are at the center of the image)
+    double fovy = 2.0 * atan2(c_y, f_y) * 180.0 / CV_PI;
+    double far_end_height = 2.00 * c_y * scale / f_y;
+    double aspect_ratio = image.cols/(double)image.rows;
+    double image_scale = far_end_height/image.rows;
+
+    WImage3D image_widget(image, Size2d(image.cols, image.rows) * image_scale);
+    image_widget.applyTransform(Affine3d().translate(Vec3d(0, 0, scale)));
+    vtkSmartPointer<vtkPolyData> plane = getPolyData(image_widget);
+
+    vtkSmartPointer<vtkPolyData> frustum = CameraPositionUtils::createFrustum(aspect_ratio, fovy, scale);
+
+    // Frustum needs to be textured or else it can't be combined with image
+    vtkSmartPointer<vtkTextureMapToPlane> frustum_texture = vtkSmartPointer<vtkTextureMapToPlane>::New();
+    VtkUtils::SetInputData(frustum_texture, frustum);
+    frustum_texture->SetSRange(0.0, 0.0); // Texture mapping with only one pixel
+    frustum_texture->SetTRange(0.0, 0.0); // from the image to have constant color
+
+    vtkSmartPointer<vtkAppendPolyData> append_filter = vtkSmartPointer<vtkAppendPolyData>::New();
+    append_filter->AddInputConnection(frustum_texture->GetOutputPort());
+    VtkUtils::AddInputData(append_filter, plane);
+
+    vtkSmartPointer<vtkActor> actor = getActor(image_widget);
+    actor->GetMapper()->SetInputConnection(append_filter->GetOutputPort());
+    WidgetAccessor::setProp(*this, actor);
+}
+
+cv::viz::WCameraPosition::WCameraPosition(const Vec2d &fov, InputArray _image, double scale, const Color &color)
+{
+    CV_Assert(!_image.empty() && _image.depth() == CV_8U);
+    Mat image = CameraPositionUtils::ensureColorImage(_image);
+    image.at<Vec3b>(0, 0) = Vec3d(color.val); //workaround of VTK limitation
+
+    double fovy = fov[1] * 180.0 / CV_PI;
+    double far_end_height = 2.0 * scale * tan(fov[1] * 0.5);
+    double aspect_ratio = image.cols/(double)image.rows;
+    double image_scale = far_end_height/image.rows;
+
+    WImage3D image_widget(image, Size2d(image.cols, image.rows) * image_scale);
+    image_widget.applyTransform(Affine3d().translate(Vec3d(0, 0, scale)));
+    vtkSmartPointer<vtkPolyData> plane = getPolyData(image_widget);
+
+    vtkSmartPointer<vtkPolyData> frustum = CameraPositionUtils::createFrustum(aspect_ratio, fovy, scale);
+
+    // Frustum needs to be textured or else it can't be combined with image
+    vtkSmartPointer<vtkTextureMapToPlane> frustum_texture = vtkSmartPointer<vtkTextureMapToPlane>::New();
+    VtkUtils::SetInputData(frustum_texture, frustum);
+    frustum_texture->SetSRange(0.0, 0.0); // Texture mapping with only one pixel
+    frustum_texture->SetTRange(0.0, 0.0); // from the image to have constant color
+
+    vtkSmartPointer<vtkAppendPolyData> append_filter = vtkSmartPointer<vtkAppendPolyData>::New();
+    append_filter->AddInputConnection(frustum_texture->GetOutputPort());
+    VtkUtils::AddInputData(append_filter, plane);
+
+    vtkSmartPointer<vtkActor> actor = getActor(image_widget);
+    actor->GetMapper()->SetInputConnection(append_filter->GetOutputPort());
+    WidgetAccessor::setProp(*this, actor);
+}
+
+template<> cv::viz::WCameraPosition cv::viz::Widget::cast<cv::viz::WCameraPosition>()
+{
+    Widget3D widget = this->cast<Widget3D>();
+    return static_cast<WCameraPosition&>(widget);
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// trajectory widget implementation
+
+cv::viz::WTrajectory::WTrajectory(InputArray _path, int display_mode, double scale, const Color &color)
+{
+    vtkSmartPointer<vtkAppendPolyData> append_filter = vtkSmartPointer<vtkAppendPolyData>::New();
+
+    // Bitwise and with 3 in order to limit the domain to 2 bits
+    if (display_mode & WTrajectory::PATH)
+    {
+        Mat points = vtkTrajectorySource::ExtractPoints(_path);
+        vtkSmartPointer<vtkPolyData> polydata = getPolyData(WPolyLine(points, color));
+        VtkUtils::AddInputData(append_filter, polydata);
+    }
+
+    if (display_mode & WTrajectory::FRAMES)
+    {
+        vtkSmartPointer<vtkTrajectorySource> source = vtkSmartPointer<vtkTrajectorySource>::New();
+        source->SetTrajectory(_path);
+
+        vtkSmartPointer<vtkPolyData> glyph = getPolyData(WCoordinateSystem(scale));
+
+        vtkSmartPointer<vtkTensorGlyph> tensor_glyph = vtkSmartPointer<vtkTensorGlyph>::New();
+        tensor_glyph->SetInputConnection(source->GetOutputPort());
+        VtkUtils::SetSourceData(tensor_glyph, glyph);
+        tensor_glyph->ExtractEigenvaluesOff();  // Treat as a rotation matrix, not as something with eigenvalues
+        tensor_glyph->ThreeGlyphsOff();
+        tensor_glyph->SymmetricOff();
+        tensor_glyph->ColorGlyphsOff();
+
+        append_filter->AddInputConnection(tensor_glyph->GetOutputPort());
+    }
+    append_filter->Update();
+
+    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
+    VtkUtils::SetInputData(mapper, append_filter->GetOutput());
+    mapper->SetScalarModeToUsePointData();
+    mapper->SetScalarRange(0, 255);
+
+    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
+    actor->SetMapper(mapper);
+
+    WidgetAccessor::setProp(*this, actor);
+}
+
+template<> cv::viz::WTrajectory cv::viz::Widget::cast<cv::viz::WTrajectory>()
+{
+    Widget3D widget = this->cast<Widget3D>();
+    return static_cast<WTrajectory&>(widget);
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// WTrajectoryFrustums widget implementation
+
+cv::viz::WTrajectoryFrustums::WTrajectoryFrustums(InputArray _path, const Matx33d &K, double scale, const Color &color)
+{
+    vtkSmartPointer<vtkTrajectorySource> source = vtkSmartPointer<vtkTrajectorySource>::New();
+    source->SetTrajectory(_path);
+
+    vtkSmartPointer<vtkPolyData> glyph = getPolyData(WCameraPosition(K, scale));
+
+    vtkSmartPointer<vtkTensorGlyph> tensor_glyph = vtkSmartPointer<vtkTensorGlyph>::New();
+    tensor_glyph->SetInputConnection(source->GetOutputPort());
+    VtkUtils::SetSourceData(tensor_glyph, glyph);
+    tensor_glyph->ExtractEigenvaluesOff();  // Treat as a rotation matrix, not as something with eigenvalues
+    tensor_glyph->ThreeGlyphsOff();
+    tensor_glyph->SymmetricOff();
+    tensor_glyph->ColorGlyphsOff();
+    tensor_glyph->Update();
+
+    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
+    VtkUtils::SetInputData(mapper, tensor_glyph->GetOutput());
+
+    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
+    actor->SetMapper(mapper);
+
+    WidgetAccessor::setProp(*this, actor);
+    setColor(color);
+}
+
+cv::viz::WTrajectoryFrustums::WTrajectoryFrustums(InputArray _path, const Vec2d &fov, double scale, const Color &color)
+{
+    vtkSmartPointer<vtkTrajectorySource> source = vtkSmartPointer<vtkTrajectorySource>::New();
+    source->SetTrajectory(_path);
+
+    vtkSmartPointer<vtkPolyData> glyph = getPolyData(WCameraPosition(fov, scale));
+
+    vtkSmartPointer<vtkTensorGlyph> tensor_glyph = vtkSmartPointer<vtkTensorGlyph>::New();
+    tensor_glyph->SetInputConnection(source->GetOutputPort());
+    VtkUtils::SetSourceData(tensor_glyph, glyph);
+    tensor_glyph->ExtractEigenvaluesOff();  // Treat as a rotation matrix, not as something with eigenvalues
+    tensor_glyph->ThreeGlyphsOff();
+    tensor_glyph->SymmetricOff();
+    tensor_glyph->ColorGlyphsOff();
+    tensor_glyph->Update();
+
+    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
+    VtkUtils::SetInputData(mapper, tensor_glyph->GetOutput());
+
+    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
+    actor->SetMapper(mapper);
+
+    WidgetAccessor::setProp(*this, actor);
+    setColor(color);
+}
+
+template<> cv::viz::WTrajectoryFrustums cv::viz::Widget::cast<cv::viz::WTrajectoryFrustums>()
+{
+    Widget3D widget = this->cast<Widget3D>();
+    return static_cast<WTrajectoryFrustums&>(widget);
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// WTrajectorySpheres widget implementation
+
+cv::viz::WTrajectorySpheres::WTrajectorySpheres(InputArray _path, double line_length, double radius, const Color &from, const Color &to)
+{
+    CV_Assert(_path.kind() == _InputArray::STD_VECTOR || _path.kind() == _InputArray::MAT);
+    CV_Assert(_path.type() == CV_32FC(16) || _path.type() == CV_64FC(16));
+
+    Mat path64;
+    _path.getMat().convertTo(path64, CV_64F);
+    Affine3d *traj = path64.ptr<Affine3d>();
+    size_t total = path64.total();
+
+    vtkSmartPointer<vtkAppendPolyData> append_filter = vtkSmartPointer<vtkAppendPolyData>::New();
+
+    for(size_t i = 0; i < total; ++i)
+    {
+        Vec3d curr = traj[i].translation();
+
+        vtkSmartPointer<vtkSphereSource> sphere_source = vtkSmartPointer<vtkSphereSource>::New();
+        sphere_source->SetCenter(curr.val);
+        sphere_source->SetRadius( (i == 0) ? 2 * radius : radius );
+        sphere_source->Update();
+
+        double alpha = static_cast<double>(i)/total;
+        Color c = from * (1 - alpha) + to * alpha;
+
+        vtkSmartPointer<vtkPolyData> polydata = sphere_source->GetOutput();
+        polydata->GetCellData()->SetScalars(VtkUtils::FillScalars(polydata->GetNumberOfCells(), c));
+        VtkUtils::AddInputData(append_filter, polydata);
+
+        if (i > 0)
+        {
+            Vec3d prev = traj[i-1].translation();
+            Vec3d lvec = prev - curr;
+
+            if(norm(lvec) > line_length)
+                lvec = normalize(lvec) * line_length;
+
+            Vec3d lend = curr + lvec;
+
+            vtkSmartPointer<vtkLineSource> line_source = vtkSmartPointer<vtkLineSource>::New();
+            line_source->SetPoint1(curr.val);
+            line_source->SetPoint2(lend.val);
+            line_source->Update();
+            vtkSmartPointer<vtkPolyData> polydata_ = line_source->GetOutput();
+            polydata_->GetCellData()->SetScalars(VtkUtils::FillScalars(polydata_->GetNumberOfCells(), c));
+            VtkUtils::AddInputData(append_filter, polydata_);
+        }
+    }
+    append_filter->Update();
+
+    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
+    mapper->SetScalarModeToUseCellData();
+    VtkUtils::SetInputData(mapper, append_filter->GetOutput());
+
+    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
+    actor->SetMapper(mapper);
+
+    WidgetAccessor::setProp(*this, actor);
+}
+
+template<> cv::viz::WTrajectorySpheres cv::viz::Widget::cast<cv::viz::WTrajectorySpheres>()
+{
+    Widget3D widget = this->cast<Widget3D>();
+    return static_cast<WTrajectorySpheres&>(widget);
+}
diff --git a/modules/viz/src/types.cpp b/modules/viz/src/types.cpp
new file mode 100644
index 0000000000..2e32a63279
--- /dev/null
+++ b/modules/viz/src/types.cpp
@@ -0,0 +1,206 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+// Authors:
+//  * Ozan Tonkal, ozantonkal@gmail.com
+//  * Anatoly Baksheev, Itseez Inc.  myname.mysurname <> mycompany.com
+//
+//M*/
+
+#include "precomp.hpp"
+
+////////////////////////////////////////////////////////////////////
+/// Events
+
+cv::viz::KeyboardEvent::KeyboardEvent(Action _action, const String& _symbol, unsigned char _code, int _modifiers)
+  : action(_action), symbol(_symbol), code(_code), modifiers(_modifiers) {}
+
+cv::viz::MouseEvent::MouseEvent(const Type& _type, const MouseButton& _button, const Point& _pointer, int _modifiers)
+    : type(_type), button(_button), pointer(_pointer), modifiers(_modifiers) {}
+
+////////////////////////////////////////////////////////////////////
+/// cv::viz::Mesh3d
+
+cv::viz::Mesh cv::viz::Mesh::load(const String& file)
+{
+    vtkSmartPointer<vtkPLYReader> reader = vtkSmartPointer<vtkPLYReader>::New();
+    reader->SetFileName(file.c_str());
+    reader->Update();
+
+    vtkSmartPointer<vtkPolyData> polydata = reader->GetOutput();
+    CV_Assert("File does not exist or file format is not supported." && polydata);
+
+    Mesh mesh;
+    vtkSmartPointer<vtkCloudMatSink> sink = vtkSmartPointer<vtkCloudMatSink>::New();
+    sink->SetOutput(mesh.cloud, mesh.colors, mesh.normals, mesh.tcoords);
+    sink->SetInputConnection(reader->GetOutputPort());
+    sink->Write();
+
+    // Now handle the polygons
+    vtkSmartPointer<vtkCellArray> polygons = polydata->GetPolys();
+    mesh.polygons.create(1, polygons->GetSize(), CV_32SC1);
+    int* poly_ptr = mesh.polygons.ptr<int>();
+
+    polygons->InitTraversal();
+    vtkIdType nr_cell_points, *cell_points;
+    while (polygons->GetNextCell(nr_cell_points, cell_points))
+    {
+        *poly_ptr++ = nr_cell_points;
+        for (vtkIdType i = 0; i < nr_cell_points; ++i)
+            *poly_ptr++ = (int)cell_points[i];
+    }
+
+    return mesh;
+}
+
+////////////////////////////////////////////////////////////////////
+/// Camera implementation
+
+cv::viz::Camera::Camera(double fx, double fy, double cx, double cy, const Size &window_size)
+{
+    init(fx, fy, cx, cy, window_size);
+}
+
+cv::viz::Camera::Camera(const Vec2d &fov, const Size &window_size)
+{
+    CV_Assert(window_size.width > 0 && window_size.height > 0);
+    setClip(Vec2d(0.01, 1000.01)); // Default clipping
+    setFov(fov);
+    window_size_ = window_size;
+    // Principal point at the center
+    principal_point_ = Vec2f(static_cast<float>(window_size.width)*0.5f, static_cast<float>(window_size.height)*0.5f);
+    focal_ = Vec2f(principal_point_[0] / tan(fov_[0]*0.5f), principal_point_[1] / tan(fov_[1]*0.5f));
+}
+
+cv::viz::Camera::Camera(const cv::Matx33d & K, const Size &window_size)
+{
+    double f_x = K(0,0);
+    double f_y = K(1,1);
+    double c_x = K(0,2);
+    double c_y = K(1,2);
+    init(f_x, f_y, c_x, c_y, window_size);
+}
+
+cv::viz::Camera::Camera(const Matx44d &proj, const Size &window_size)
+{
+    CV_Assert(window_size.width > 0 && window_size.height > 0);
+
+    double near = proj(2,3) / (proj(2,2) - 1.0);
+    double far = near * (proj(2,2) - 1.0) / (proj(2,2) + 1.0);
+    double left = near * (proj(0,2)-1) / proj(0,0);
+    double right = 2.0 * near / proj(0,0) + left;
+    double bottom = near * (proj(1,2)-1) / proj(1,1);
+    double top = 2.0 * near / proj(1,1) + bottom;
+
+    double epsilon = 2.2204460492503131e-16;
+
+    principal_point_[0] = fabs(left-right) < epsilon ? window_size.width  * 0.5 : (left * window_size.width) / (left - right);
+    principal_point_[1] = fabs(top-bottom) < epsilon ? window_size.height * 0.5 : (top * window_size.height) / (top - bottom);
+
+    focal_[0] = -near * principal_point_[0] / left;
+    focal_[1] =  near * principal_point_[1] / top;
+
+    setClip(Vec2d(near, far));
+    fov_[0] = atan2(principal_point_[0], focal_[0]) + atan2(window_size.width-principal_point_[0],  focal_[0]);
+    fov_[1] = atan2(principal_point_[1], focal_[1]) + atan2(window_size.height-principal_point_[1], focal_[1]);
+
+    window_size_ = window_size;
+}
+
+void cv::viz::Camera::init(double fx, double fy, double cx, double cy, const Size &window_size)
+{
+    CV_Assert(window_size.width > 0 && window_size.height > 0);
+    setClip(Vec2d(0.01, 1000.01));// Default clipping
+
+    fov_[0] = atan2(cx, fx) + atan2(window_size.width  - cx, fx);
+    fov_[1] = atan2(cy, fy) + atan2(window_size.height - cy, fy);
+
+    principal_point_[0] = cx;
+    principal_point_[1] = cy;
+
+    focal_[0] = fx;
+    focal_[1] = fy;
+
+    window_size_ = window_size;
+}
+
+void cv::viz::Camera::setWindowSize(const Size &window_size)
+{
+    CV_Assert(window_size.width > 0 && window_size.height > 0);
+
+    // Get the scale factor and update the principal points
+    float scalex = static_cast<float>(window_size.width) / static_cast<float>(window_size_.width);
+    float scaley = static_cast<float>(window_size.height) / static_cast<float>(window_size_.height);
+
+    principal_point_[0] *= scalex;
+    principal_point_[1] *= scaley;
+    focal_ *= scaley;
+    // Vertical field of view is fixed!  Update horizontal field of view
+    fov_[0] = (atan2(principal_point_[0],focal_[0]) + atan2(window_size.width-principal_point_[0],focal_[0]));
+
+    window_size_ = window_size;
+}
+
+void cv::viz::Camera::computeProjectionMatrix(Matx44d &proj) const
+{
+    double top = clip_[0] * principal_point_[1] / focal_[1];
+    double left = -clip_[0] * principal_point_[0] / focal_[0];
+    double right = clip_[0] * (window_size_.width - principal_point_[0]) / focal_[0];
+    double bottom = -clip_[0] * (window_size_.height - principal_point_[1]) / focal_[1];
+
+    double temp1 = 2.0 * clip_[0];
+    double temp2 = 1.0 / (right - left);
+    double temp3 = 1.0 / (top - bottom);
+    double temp4 = 1.0 / (clip_[0] - clip_[1]);
+
+    proj = Matx44d::zeros();
+    proj(0,0) = temp1 * temp2;
+    proj(1,1) = temp1 * temp3;
+    proj(0,2) = (right + left) * temp2;
+    proj(1,2) = (top + bottom) * temp3;
+    proj(2,2) = (clip_[1]+clip_[0]) * temp4;
+    proj(3,2) = -1.0;
+    proj(2,3) = (temp1 * clip_[1]) * temp4;
+}
+
+cv::viz::Camera cv::viz::Camera::KinectCamera(const Size &window_size)
+{
+    Matx33d K(525.0, 0.0, 320.0, 0.0, 525.0, 240.0, 0.0, 0.0, 1.0);
+    return Camera(K, window_size);
+}
diff --git a/modules/viz/src/viz3d.cpp b/modules/viz/src/viz3d.cpp
new file mode 100644
index 0000000000..56f978c0ea
--- /dev/null
+++ b/modules/viz/src/viz3d.cpp
@@ -0,0 +1,148 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+// Authors:
+//  * Ozan Tonkal, ozantonkal@gmail.com
+//  * Anatoly Baksheev, Itseez Inc.  myname.mysurname <> mycompany.com
+//
+//M*/
+
+#include "precomp.hpp"
+
+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);
+}
+
+cv::viz::Viz3d& cv::viz::Viz3d::operator=(const Viz3d& other)
+{
+    if (this != &other)
+    {
+        release();
+        impl_ = other.impl_;
+        if (impl_)
+            CV_XADD(&impl_->ref_counter, 1);
+    }
+    return *this;
+}
+
+cv::viz::Viz3d::~Viz3d() { release(); }
+
+void cv::viz::Viz3d::create(const String &window_name)
+{
+    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
+        VizStorage::add(*this);
+    }
+}
+
+void cv::viz::Viz3d::release()
+{
+    if (impl_ && CV_XADD(&impl_->ref_counter, -1) == 1)
+    {
+        delete impl_;
+        impl_ = 0;
+    }
+
+    if (impl_ && impl_->ref_counter == 1)
+        VizStorage::removeUnreferenced();
+
+    impl_ = 0;
+}
+
+void cv::viz::Viz3d::spin() { impl_->spin(); }
+void cv::viz::Viz3d::spinOnce(int time, bool force_redraw) { impl_->spinOnce(time, force_redraw); }
+bool cv::viz::Viz3d::wasStopped() const { return impl_->wasStopped(); }
+void cv::viz::Viz3d::close() { impl_->close(); }
+
+void cv::viz::Viz3d::registerKeyboardCallback(KeyboardCallback callback, void* cookie)
+{ impl_->registerKeyboardCallback(callback, cookie); }
+
+void cv::viz::Viz3d::registerMouseCallback(MouseCallback callback, void* cookie)
+{ impl_->registerMouseCallback(callback, cookie); }
+
+void cv::viz::Viz3d::showWidget(const String &id, const Widget &widget, const Affine3d &pose) { impl_->showWidget(id, widget, pose); }
+void cv::viz::Viz3d::removeWidget(const String &id) { impl_->removeWidget(id); }
+cv::viz::Widget cv::viz::Viz3d::getWidget(const String &id) const { return impl_->getWidget(id); }
+void cv::viz::Viz3d::removeAllWidgets() { impl_->removeAllWidgets(); }
+
+void cv::viz::Viz3d::showImage(InputArray image, const Size& window_size) { impl_->showImage(image, window_size); }
+
+void cv::viz::Viz3d::setWidgetPose(const String &id, const Affine3d &pose) { impl_->setWidgetPose(id, pose); }
+void cv::viz::Viz3d::updateWidgetPose(const String &id, const Affine3d &pose) { impl_->updateWidgetPose(id, pose); }
+cv::Affine3d cv::viz::Viz3d::getWidgetPose(const String &id) const { return impl_->getWidgetPose(id); }
+
+void cv::viz::Viz3d::setCamera(const Camera &camera) { impl_->setCamera(camera); }
+cv::viz::Camera cv::viz::Viz3d::getCamera() const { return impl_->getCamera(); }
+void cv::viz::Viz3d::setViewerPose(const Affine3d &pose) { impl_->setViewerPose(pose); }
+cv::Affine3d cv::viz::Viz3d::getViewerPose() { return impl_->getViewerPose(); }
+
+void cv::viz::Viz3d::resetCameraViewpoint(const String &id) { impl_->resetCameraViewpoint(id); }
+void cv::viz::Viz3d::resetCamera() { impl_->resetCamera(); }
+
+void cv::viz::Viz3d::convertToWindowCoordinates(const Point3d &pt, Point3d &window_coord) { impl_->convertToWindowCoordinates(pt, window_coord); }
+void cv::viz::Viz3d::converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction) { impl_->converTo3DRay(window_coord, origin, direction); }
+
+cv::Size cv::viz::Viz3d::getWindowSize() const { return impl_->getWindowSize(); }
+void cv::viz::Viz3d::setWindowSize(const Size &window_size) { impl_->setWindowSize(window_size); }
+cv::String cv::viz::Viz3d::getWindowName() const { return impl_->getWindowName(); }
+void cv::viz::Viz3d::saveScreenshot(const String &file) { impl_->saveScreenshot(file); }
+void cv::viz::Viz3d::setWindowPosition(const Point& window_position) { impl_->setWindowPosition(window_position); }
+void cv::viz::Viz3d::setFullScreen(bool mode) { impl_->setFullScreen(mode); }
+void cv::viz::Viz3d::setBackgroundColor(const Color& color, const Color& color2) { impl_->setBackgroundColor(color, color2); }
+
+void cv::viz::Viz3d::setBackgroundTexture(InputArray image) { impl_->setBackgroundTexture(image); }
+void cv::viz::Viz3d::setBackgroundMeshLab() {impl_->setBackgroundMeshLab(); }
+
+void cv::viz::Viz3d::setRenderingProperty(const String &id, int property, double value) { getWidget(id).setRenderingProperty(property, value); }
+double cv::viz::Viz3d::getRenderingProperty(const String &id, int property) { return getWidget(id).getRenderingProperty(property); }
+
+void cv::viz::Viz3d::setRepresentation(int representation) { impl_->setRepresentation(representation); }
diff --git a/modules/viz/src/vizcore.cpp b/modules/viz/src/vizcore.cpp
new file mode 100644
index 0000000000..b4ec83bd44
--- /dev/null
+++ b/modules/viz/src/vizcore.cpp
@@ -0,0 +1,312 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+// Authors:
+//  * Ozan Tonkal, ozantonkal@gmail.com
+//  * Anatoly Baksheev, Itseez Inc.  myname.mysurname <> mycompany.com
+//
+//M*/
+
+#include "precomp.hpp"
+
+cv::Affine3d cv::viz::makeTransformToGlobal(const Vec3d& axis_x, const Vec3d& axis_y, const Vec3d& axis_z, const Vec3d& origin)
+{
+    Affine3d::Mat3 R(axis_x[0], axis_y[0], axis_z[0],
+                     axis_x[1], axis_y[1], axis_z[1],
+                     axis_x[2], axis_y[2], axis_z[2]);
+
+    return Affine3d(R, origin);
+}
+
+cv::Affine3d cv::viz::makeCameraPose(const Vec3d& position, const Vec3d& focal_point, const Vec3d& y_dir)
+{
+    // Compute the transformation matrix for drawing the camera frame in a scene
+    Vec3d n = normalize(focal_point - position);
+    Vec3d u = normalize(y_dir.cross(n));
+    Vec3d v = n.cross(u);
+
+    return makeTransformToGlobal(u, v, n, position);
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// VizStorage implementation
+
+cv::viz::VizMap cv::viz::VizStorage::storage;
+void cv::viz::VizStorage::unregisterAll() { storage.clear(); }
+
+cv::viz::Viz3d& cv::viz::VizStorage::get(const String &window_name)
+{
+    String name = generateWindowName(window_name);
+    VizMap::iterator vm_itr = storage.find(name);
+    CV_Assert(vm_itr != storage.end());
+    return vm_itr->second;
+}
+
+void cv::viz::VizStorage::add(const Viz3d& window)
+{
+    String window_name = window.getWindowName();
+    VizMap::iterator vm_itr = storage.find(window_name);
+    CV_Assert(vm_itr == storage.end());
+    storage.insert(std::make_pair(window_name, window));
+}
+
+bool cv::viz::VizStorage::windowExists(const String &window_name)
+{
+    String name = generateWindowName(window_name);
+    return storage.find(name) != storage.end();
+}
+
+void cv::viz::VizStorage::removeUnreferenced()
+{
+    for(VizMap::iterator pos = storage.begin(); pos != storage.end();)
+        if(pos->second.impl_->ref_counter == 1)
+            storage.erase(pos++);
+        else
+            ++pos;
+}
+
+cv::String cv::viz::VizStorage::generateWindowName(const String &window_name)
+{
+    String output = "Viz";
+    // Already is Viz
+    if (window_name == output)
+        return output;
+
+    String prefixed = output + " - ";
+    if (window_name.substr(0, prefixed.length()) == prefixed)
+        output = window_name; // Already has "Viz - "
+    else if (window_name.substr(0, output.length()) == output)
+        output = prefixed + window_name; // Doesn't have prefix
+    else
+        output = (window_name == "" ? output : prefixed + window_name);
+
+    return output;
+}
+
+cv::viz::Viz3d cv::viz::getWindowByName(const String &window_name) { return Viz3d (window_name); }
+void cv::viz::unregisterAllWindows() { VizStorage::unregisterAll(); }
+
+cv::viz::Viz3d cv::viz::imshow(const String& window_name, InputArray image, const Size& window_size)
+{
+    Viz3d viz = getWindowByName(window_name);
+    viz.showImage(image, window_size);
+    return viz;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// Read/write clouds. Supported formats: ply, stl, xyz, obj
+
+void cv::viz::writeCloud(const String& file, InputArray cloud, InputArray colors, InputArray normals, bool binary)
+{
+    CV_Assert(file.size() > 4 && "Extention is required");
+    String extention = file.substr(file.size()-4);
+
+    vtkSmartPointer<vtkCloudMatSource> source = vtkSmartPointer<vtkCloudMatSource>::New();
+    source->SetColorCloudNormals(cloud, colors, normals);
+
+    vtkSmartPointer<vtkWriter> writer;
+    if (extention == ".xyz")
+    {
+        writer = vtkSmartPointer<vtkXYZWriter>::New();
+        vtkXYZWriter::SafeDownCast(writer)->SetFileName(file.c_str());
+    }
+    else if (extention == ".ply")
+    {
+        writer = vtkSmartPointer<vtkPLYWriter>::New();
+        vtkPLYWriter::SafeDownCast(writer)->SetFileName(file.c_str());
+        vtkPLYWriter::SafeDownCast(writer)->SetFileType(binary ? VTK_BINARY : VTK_ASCII);
+        vtkPLYWriter::SafeDownCast(writer)->SetArrayName("Colors");
+    }
+    else if (extention == ".obj")
+    {
+        writer = vtkSmartPointer<vtkOBJWriter>::New();
+        vtkOBJWriter::SafeDownCast(writer)->SetFileName(file.c_str());
+    }
+    else
+        CV_Assert(!"Unsupported format");
+
+    writer->SetInputConnection(source->GetOutputPort());
+    writer->Write();
+}
+
+cv::Mat cv::viz::readCloud(const String& file, OutputArray colors, OutputArray normals)
+{
+    CV_Assert(file.size() > 4 && "Extention is required");
+    String extention = file.substr(file.size()-4);
+
+    vtkSmartPointer<vtkPolyDataAlgorithm> reader;
+    if (extention == ".xyz")
+    {
+        reader = vtkSmartPointer<vtkSimplePointsReader>::New();
+        vtkSimplePointsReader::SafeDownCast(reader)->SetFileName(file.c_str());
+    }
+    else if (extention == ".ply")
+    {
+        reader = vtkSmartPointer<vtkPLYReader>::New();
+        CV_Assert(vtkPLYReader::CanReadFile(file.c_str()));
+        vtkPLYReader::SafeDownCast(reader)->SetFileName(file.c_str());
+    }
+    else if (extention == ".obj")
+    {
+        reader = vtkSmartPointer<vtkOBJReader>::New();
+        vtkOBJReader::SafeDownCast(reader)->SetFileName(file.c_str());
+    }
+    else if (extention == ".stl")
+    {
+        reader = vtkSmartPointer<vtkSTLReader>::New();
+        vtkSTLReader::SafeDownCast(reader)->SetFileName(file.c_str());
+    }
+    else
+        CV_Assert(!"Unsupported format");
+
+    cv::Mat cloud;
+
+    vtkSmartPointer<vtkCloudMatSink> sink = vtkSmartPointer<vtkCloudMatSink>::New();
+    sink->SetInputConnection(reader->GetOutputPort());
+    sink->SetOutput(cloud, colors, normals);
+    sink->Write();
+
+    return cloud;
+}
+
+cv::viz::Mesh cv::viz::readMesh(const String& file) { return Mesh::load(file); }
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// Read/write poses and trajectories
+
+bool cv::viz::readPose(const String& file, Affine3d& pose, const String& tag)
+{
+    FileStorage fs(file, FileStorage::READ);
+    if (!fs.isOpened())
+        return false;
+
+    Mat hdr(pose.matrix, false);
+    fs[tag] >> hdr;
+    if (hdr.empty() || hdr.cols != pose.matrix.cols || hdr.rows != pose.matrix.rows)
+        return false;
+
+    hdr.convertTo(pose.matrix, CV_64F);
+    return true;
+}
+
+void cv::viz::writePose(const String& file, const Affine3d& pose, const String& tag)
+{
+    FileStorage fs(file, FileStorage::WRITE);
+    fs << tag << Mat(pose.matrix, false);
+}
+
+void cv::viz::readTrajectory(OutputArray _traj, const String& files_format, int start, int end, const String& tag)
+{
+    CV_Assert(_traj.kind() == _InputArray::STD_VECTOR || _traj.kind() == _InputArray::MAT);
+
+    start = max(0, std::min(start, end));
+    end = std::max(start, end);
+
+    std::vector<Affine3d> traj;
+
+    for(int i = start; i < end; ++i)
+    {
+        Affine3d affine;
+        bool ok = readPose(cv::format(files_format.c_str(), i), affine, tag);
+        if (!ok)
+            break;
+
+        traj.push_back(affine);
+    }
+
+    Mat(traj).convertTo(_traj, _traj.depth());
+}
+
+void cv::viz::writeTrajectory(InputArray _traj, const String& files_format, int start, const String& tag)
+{
+    if (_traj.kind() == _InputArray::STD_VECTOR_MAT)
+    {
+        std::vector<Mat>& v = *(std::vector<Mat>*)_traj.obj;
+
+        for(size_t i = 0, index = max(0, start); i < v.size(); ++i, ++index)
+        {
+            Affine3d affine;
+            Mat pose = v[i];
+            CV_Assert(pose.type() == CV_32FC(16) || pose.type() == CV_64FC(16));
+            pose.copyTo(affine.matrix);
+            writePose(cv::format(files_format.c_str(), index), affine, tag);
+        }
+        return;
+    }
+
+    if (_traj.kind() == _InputArray::STD_VECTOR || _traj.kind() == _InputArray::MAT)
+    {
+        CV_Assert(_traj.type() == CV_32FC(16) || _traj.type() == CV_64FC(16));
+
+        Mat traj = _traj.getMat();
+
+        if (traj.depth() == CV_32F)
+            for(size_t i = 0, index = max(0, start); i < traj.total(); ++i, ++index)
+                writePose(cv::format(files_format.c_str(), index), traj.at<Affine3f>(i), tag);
+
+        if (traj.depth() == CV_64F)
+            for(size_t i = 0, index = max(0, start); i < traj.total(); ++i, ++index)
+                writePose(cv::format(files_format.c_str(), index), traj.at<Affine3d>(i), tag);
+    }
+
+    CV_Assert(!"Unsupported array kind");
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// Computing normals for mesh
+
+void cv::viz::computeNormals(const Mesh& mesh, OutputArray _normals)
+{
+    vtkSmartPointer<vtkPolyData> polydata = getPolyData(WMesh(mesh));
+    vtkSmartPointer<vtkPolyData> with_normals = VtkUtils::ComputeNormals(polydata);
+
+    vtkSmartPointer<vtkDataArray> generic_normals = with_normals->GetPointData()->GetNormals();
+    if(generic_normals)
+    {
+        Mat normals(1, generic_normals->GetNumberOfTuples(), CV_64FC3);
+        Vec3d *optr = normals.ptr<Vec3d>();
+
+        for(int i = 0; i < generic_normals->GetNumberOfTuples(); ++i, ++optr)
+            generic_normals->GetTuple(i, optr->val);
+
+        normals.convertTo(_normals, mesh.cloud.type());
+    }
+    else
+        _normals.release();
+}
diff --git a/modules/viz/src/vizimpl.cpp b/modules/viz/src/vizimpl.cpp
new file mode 100644
index 0000000000..5fa49e2f96
--- /dev/null
+++ b/modules/viz/src/vizimpl.cpp
@@ -0,0 +1,542 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+// Authors:
+//  * Ozan Tonkal, ozantonkal@gmail.com
+//  * Anatoly Baksheev, Itseez Inc.  myname.mysurname <> mycompany.com
+//
+//M*/
+
+#include "precomp.hpp"
+
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+cv::viz::Viz3d::VizImpl::VizImpl(const String &name) : spin_once_state_(false),
+    window_position_(Vec2i(std::numeric_limits<int>::min())), widget_actor_map_(new WidgetActorMap)
+{
+    renderer_ = vtkSmartPointer<vtkRenderer>::New();
+    window_name_ = VizStorage::generateWindowName(name);
+
+    // Create render window
+    window_ = vtkSmartPointer<vtkRenderWindow>::New();
+    cv::Vec2i window_size = cv::Vec2i(window_->GetScreenSize()) / 2;
+    window_->SetSize(window_size.val);
+    window_->AddRenderer(renderer_);
+
+    // Create the interactor style
+    style_ = vtkSmartPointer<InteractorStyle>::New();
+    style_->setWidgetActorMap(widget_actor_map_);
+    style_->UseTimersOn();
+    style_->Initialize();
+
+    timer_callback_ = vtkSmartPointer<TimerCallback>::New();
+    exit_callback_ = vtkSmartPointer<ExitCallback>::New();
+    exit_callback_->viz = this;
+}
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+void cv::viz::Viz3d::VizImpl::TimerCallback::Execute(vtkObject* caller, unsigned long event_id, void* cookie)
+{
+    if (event_id == vtkCommand::TimerEvent && timer_id == *reinterpret_cast<int*>(cookie))
+    {
+        vtkSmartPointer<vtkRenderWindowInteractor> interactor = vtkRenderWindowInteractor::SafeDownCast(caller);
+        interactor->TerminateApp();
+    }
+}
+
+void cv::viz::Viz3d::VizImpl::ExitCallback::Execute(vtkObject*, unsigned long event_id, void*)
+{
+    if (event_id == vtkCommand::ExitEvent)
+    {
+        viz->interactor_->TerminateApp();
+        viz->interactor_ = 0;
+    }
+}
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+
+bool cv::viz::Viz3d::VizImpl::wasStopped() const
+{
+    bool stopped = spin_once_state_ ? interactor_ == 0 : false;
+    spin_once_state_ &= !stopped;
+    return stopped;
+}
+
+void cv::viz::Viz3d::VizImpl::close()
+{
+    if (!interactor_)
+        return;
+    interactor_->GetRenderWindow()->Finalize();
+    interactor_->TerminateApp(); // This tends to close the window...
+    interactor_ = 0;
+}
+
+void cv::viz::Viz3d::VizImpl::recreateRenderWindow()
+{
+#if !defined _MSC_VER
+    //recreating is workaround for Ubuntu -- a crash in x-server
+    Vec2i window_size(window_->GetSize());
+    int fullscreen = window_->GetFullScreen();
+
+    window_ = vtkSmartPointer<vtkRenderWindow>::New();
+    if (window_position_[0] != std::numeric_limits<int>::min()) //also workaround
+        window_->SetPosition(window_position_.val);
+
+    window_->SetSize(window_size.val);
+    window_->SetFullScreen(fullscreen);
+    window_->AddRenderer(renderer_);
+#endif
+}
+
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+void cv::viz::Viz3d::VizImpl::spin()
+{
+    recreateRenderWindow();
+    interactor_ = vtkSmartPointer<vtkRenderWindowInteractor>::New();
+    interactor_->SetRenderWindow(window_);
+    interactor_->SetInteractorStyle(style_);
+    window_->AlphaBitPlanesOff();
+    window_->PointSmoothingOff();
+    window_->LineSmoothingOff();
+    window_->PolygonSmoothingOff();
+    window_->SwapBuffersOn();
+    window_->SetStereoTypeToAnaglyph();
+    window_->Render();
+    window_->SetWindowName(window_name_.c_str());
+    interactor_->Start();
+    interactor_ = 0;
+}
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+void cv::viz::Viz3d::VizImpl::spinOnce(int time, bool force_redraw)
+{
+    if (interactor_ == 0)
+    {
+        spin_once_state_ = true;
+        recreateRenderWindow();
+        interactor_ = vtkSmartPointer<vtkRenderWindowInteractor>::New();
+        interactor_->SetRenderWindow(window_);
+        interactor_->SetInteractorStyle(style_);
+        interactor_->AddObserver(vtkCommand::TimerEvent, timer_callback_);
+        interactor_->AddObserver(vtkCommand::ExitEvent, exit_callback_);
+        window_->AlphaBitPlanesOff();
+        window_->PointSmoothingOff();
+        window_->LineSmoothingOff();
+        window_->PolygonSmoothingOff();
+        window_->SwapBuffersOn();
+        window_->SetStereoTypeToAnaglyph();
+        window_->Render();
+        window_->SetWindowName(window_name_.c_str());
+    }
+
+    vtkSmartPointer<vtkRenderWindowInteractor> local = interactor_;
+
+    if (force_redraw)
+        local->Render();
+
+    timer_callback_->timer_id = local->CreateRepeatingTimer(std::max(1, time));
+    local->Start();
+    local->DestroyTimer(timer_callback_->timer_id);
+}
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+void cv::viz::Viz3d::VizImpl::showWidget(const String &id, const Widget &widget, const Affine3d &pose)
+{
+    WidgetActorMap::iterator wam_itr = widget_actor_map_->find(id);
+    bool exists = wam_itr != widget_actor_map_->end();
+    if (exists)
+    {
+        // Remove it if it exists and add it again
+        removeActorFromRenderer(wam_itr->second);
+    }
+    // Get the actor and set the user matrix
+    vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(widget));
+    if (actor)
+    {
+        // If the actor is 3D, apply pose
+        vtkSmartPointer<vtkMatrix4x4> matrix = vtkmatrix(pose.matrix);
+        actor->SetUserMatrix(matrix);
+        actor->Modified();
+    }
+    // If the actor is a vtkFollower, then it should always face the camera
+    vtkFollower *follower = vtkFollower::SafeDownCast(actor);
+    if (follower)
+    {
+        follower->SetCamera(renderer_->GetActiveCamera());
+    }
+
+    renderer_->AddActor(WidgetAccessor::getProp(widget));
+    (*widget_actor_map_)[id] = WidgetAccessor::getProp(widget);
+}
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+void cv::viz::Viz3d::VizImpl::removeWidget(const String &id)
+{
+    WidgetActorMap::iterator wam_itr = widget_actor_map_->find(id);
+    bool exists = wam_itr != widget_actor_map_->end();
+    CV_Assert("Widget does not exist." && exists);
+    CV_Assert("Widget could not be removed." && removeActorFromRenderer(wam_itr->second));
+    widget_actor_map_->erase(wam_itr);
+}
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+cv::viz::Widget cv::viz::Viz3d::VizImpl::getWidget(const String &id) const
+{
+    WidgetActorMap::const_iterator wam_itr = widget_actor_map_->find(id);
+    bool exists = wam_itr != widget_actor_map_->end();
+    CV_Assert("Widget does not exist." && exists);
+
+    Widget widget;
+    WidgetAccessor::setProp(widget, wam_itr->second);
+    return widget;
+}
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+void cv::viz::Viz3d::VizImpl::setWidgetPose(const String &id, const Affine3d &pose)
+{
+    WidgetActorMap::iterator wam_itr = widget_actor_map_->find(id);
+    bool exists = wam_itr != widget_actor_map_->end();
+    CV_Assert("Widget does not exist." && exists);
+
+    vtkProp3D *actor = vtkProp3D::SafeDownCast(wam_itr->second);
+    CV_Assert("Widget is not 3D." && actor);
+
+    vtkSmartPointer<vtkMatrix4x4> matrix = vtkmatrix(pose.matrix);
+    actor->SetUserMatrix(matrix);
+    actor->Modified();
+}
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+void cv::viz::Viz3d::VizImpl::updateWidgetPose(const String &id, const Affine3d &pose)
+{
+    WidgetActorMap::iterator wam_itr = widget_actor_map_->find(id);
+    bool exists = wam_itr != widget_actor_map_->end();
+    CV_Assert("Widget does not exist." && exists);
+
+    vtkProp3D *actor = vtkProp3D::SafeDownCast(wam_itr->second);
+    CV_Assert("Widget is not 3D." && actor);
+
+    vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
+    if (!matrix)
+    {
+        setWidgetPose(id, pose);
+        return ;
+    }
+    Affine3d updated_pose = pose * Affine3d(*matrix->Element);
+    matrix = vtkmatrix(updated_pose.matrix);
+
+    actor->SetUserMatrix(matrix);
+    actor->Modified();
+}
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+cv::Affine3d cv::viz::Viz3d::VizImpl::getWidgetPose(const String &id) const
+{
+    WidgetActorMap::const_iterator wam_itr = widget_actor_map_->find(id);
+    bool exists = wam_itr != widget_actor_map_->end();
+    CV_Assert("Widget does not exist." && exists);
+
+    vtkProp3D *actor = vtkProp3D::SafeDownCast(wam_itr->second);
+    CV_Assert("Widget is not 3D." && actor);
+
+    return Affine3d(*actor->GetUserMatrix()->Element);
+}
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+void cv::viz::Viz3d::VizImpl::saveScreenshot(const String &file) { style_->saveScreenshot(file.c_str()); }
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+void cv::viz::Viz3d::VizImpl::registerMouseCallback(MouseCallback callback, void* cookie)
+{ style_->registerMouseCallback(callback, cookie); }
+
+void cv::viz::Viz3d::VizImpl::registerKeyboardCallback(KeyboardCallback callback, void* cookie)
+{ style_->registerKeyboardCallback(callback, cookie); }
+
+
+//////////////////////////////////////////////////////////////////////////////////////////
+void cv::viz::Viz3d::VizImpl::removeAllWidgets()
+{
+    widget_actor_map_->clear();
+    renderer_->RemoveAllViewProps();
+}
+/////////////////////////////////////////////////////////////////////////////////////////////
+void cv::viz::Viz3d::VizImpl::showImage(InputArray image, const Size& window_size)
+{
+    removeAllWidgets();
+    if (window_size.width > 0 && window_size.height > 0)
+        setWindowSize(window_size);
+
+    showWidget("showImage", WImageOverlay(image, Rect(Point(0,0), getWindowSize())));
+}
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+bool cv::viz::Viz3d::VizImpl::removeActorFromRenderer(vtkSmartPointer<vtkProp> actor)
+{
+    vtkPropCollection* actors = renderer_->GetViewProps();
+    actors->InitTraversal();
+    vtkProp* current_actor = NULL;
+    while ((current_actor = actors->GetNextProp()) != NULL)
+        if (current_actor == actor)
+        {
+            renderer_->RemoveActor(actor);
+            return true;
+        }
+    return false;
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+void cv::viz::Viz3d::VizImpl::setBackgroundColor(const Color& color, const Color& color2)
+{
+    Color c = vtkcolor(color), c2 = vtkcolor(color2);
+    bool gradient = color2[0] >= 0 && color2[1] >= 0 && color2[2] >= 0;
+
+    if (gradient)
+    {
+        renderer_->SetBackground(c2.val);
+        renderer_->SetBackground2(c.val);
+        renderer_->GradientBackgroundOn();
+    }
+    else
+    {
+        renderer_->SetBackground(c.val);
+        renderer_->GradientBackgroundOff();
+    }
+}
+
+void cv::viz::Viz3d::VizImpl::setBackgroundMeshLab()
+{ setBackgroundColor(Color(2, 1, 1), Color(240, 120, 120)); }
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+void cv::viz::Viz3d::VizImpl::setBackgroundTexture(InputArray image)
+{
+    if (image.empty())
+    {
+        renderer_->SetBackgroundTexture(0);
+        renderer_->TexturedBackgroundOff();
+        return;
+    }
+
+    vtkSmartPointer<vtkImageMatSource> source = vtkSmartPointer<vtkImageMatSource>::New();
+    source->SetImage(image);
+
+    vtkSmartPointer<vtkImageFlip> image_flip = vtkSmartPointer<vtkImageFlip>::New();
+    image_flip->SetFilteredAxis(1); // Vertical flip
+    image_flip->SetInputConnection(source->GetOutputPort());
+
+    vtkSmartPointer<vtkTexture> texture = vtkSmartPointer<vtkTexture>::New();
+    texture->SetInputConnection(image_flip->GetOutputPort());
+    //texture->Update();
+
+    renderer_->SetBackgroundTexture(texture);
+    renderer_->TexturedBackgroundOn();
+}
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+void cv::viz::Viz3d::VizImpl::setCamera(const Camera &camera)
+{
+    vtkSmartPointer<vtkCamera> active_camera = renderer_->GetActiveCamera();
+
+    // Set the intrinsic parameters of the camera
+    window_->SetSize(camera.getWindowSize().width, camera.getWindowSize().height);
+    double aspect_ratio = static_cast<double>(camera.getWindowSize().width)/static_cast<double>(camera.getWindowSize().height);
+
+    Matx44d proj_mat;
+    camera.computeProjectionMatrix(proj_mat);
+
+    // Use the intrinsic parameters of the camera to simulate more realistically
+    vtkSmartPointer<vtkMatrix4x4> vtk_matrix = active_camera->GetProjectionTransformMatrix(aspect_ratio, -1.0, 1.0);
+    Matx44d old_proj_mat(*vtk_matrix->Element);
+
+    // This is a hack around not being able to set Projection Matrix
+    vtkSmartPointer<vtkTransform> transform = vtkSmartPointer<vtkTransform>::New();
+    transform->SetMatrix(vtkmatrix(proj_mat * old_proj_mat.inv()));
+    active_camera->SetUserTransform(transform);
+
+    renderer_->ResetCameraClippingRange();
+    renderer_->Render();
+}
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+cv::viz::Camera cv::viz::Viz3d::VizImpl::getCamera() const
+{
+    vtkSmartPointer<vtkCamera> active_camera = renderer_->GetActiveCamera();
+
+    Size window_size(renderer_->GetRenderWindow()->GetSize()[0],
+                     renderer_->GetRenderWindow()->GetSize()[1]);
+    double aspect_ratio = window_size.width / (double)window_size.height;
+
+    vtkSmartPointer<vtkMatrix4x4> proj_matrix = active_camera->GetProjectionTransformMatrix(aspect_ratio, -1.0f, 1.0f);
+    return Camera(Matx44d(*proj_matrix->Element), window_size);
+}
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+void cv::viz::Viz3d::VizImpl::setViewerPose(const Affine3d &pose)
+{
+    vtkCamera& camera = *renderer_->GetActiveCamera();
+
+    // Position = extrinsic translation
+    cv::Vec3d pos_vec = pose.translation();
+
+    // Rotate the view vector
+    cv::Matx33d rotation = pose.rotation();
+    cv::Vec3d y_axis(0.0, 1.0, 0.0);
+    cv::Vec3d up_vec(rotation * y_axis);
+
+    // Compute the new focal point
+    cv::Vec3d z_axis(0.0, 0.0, 1.0);
+    cv::Vec3d focal_vec = pos_vec + rotation * z_axis;
+
+    camera.SetPosition(pos_vec.val);
+    camera.SetFocalPoint(focal_vec.val);
+    camera.SetViewUp(up_vec.val);
+
+    renderer_->ResetCameraClippingRange();
+}
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+cv::Affine3d cv::viz::Viz3d::VizImpl::getViewerPose()
+{
+    vtkCamera& camera = *renderer_->GetActiveCamera();
+
+    Vec3d pos(camera.GetPosition());
+    Vec3d view_up(camera.GetViewUp());
+    Vec3d focal(camera.GetFocalPoint());
+
+    Vec3d y_axis = normalized(view_up);
+    Vec3d z_axis = normalized(focal - pos);
+    Vec3d x_axis = normalized(y_axis.cross(z_axis));
+
+    return makeTransformToGlobal(x_axis, y_axis, z_axis, pos);
+}
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+void cv::viz::Viz3d::VizImpl::convertToWindowCoordinates(const Point3d &pt, Point3d &window_coord)
+{
+    Vec3d window_pt;
+    vtkInteractorObserver::ComputeWorldToDisplay(renderer_, pt.x, pt.y, pt.z, window_pt.val);
+    window_coord = window_pt;
+}
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+void cv::viz::Viz3d::VizImpl::converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction)
+{
+    Vec4d world_pt;
+    vtkInteractorObserver::ComputeDisplayToWorld(renderer_, window_coord.x, window_coord.y, window_coord.z, world_pt.val);
+    Vec3d cam_pos(renderer_->GetActiveCamera()->GetPosition());
+    origin = cam_pos;
+    direction = normalize(Vec3d(world_pt.val) - cam_pos);
+}
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+void cv::viz::Viz3d::VizImpl::resetCameraViewpoint(const String &id)
+{
+    vtkSmartPointer<vtkMatrix4x4> camera_pose;
+    static WidgetActorMap::iterator it = widget_actor_map_->find(id);
+    if (it != widget_actor_map_->end())
+    {
+        vtkProp3D *actor = vtkProp3D::SafeDownCast(it->second);
+        CV_Assert("Widget is not 3D." && actor);
+        camera_pose = actor->GetUserMatrix();
+    }
+    else
+        return;
+
+    // Prevent a segfault
+    if (!camera_pose) return;
+
+    vtkSmartPointer<vtkCamera> cam = renderer_->GetActiveCamera();
+    cam->SetPosition(camera_pose->GetElement(0, 3),
+                     camera_pose->GetElement(1, 3),
+                     camera_pose->GetElement(2, 3));
+
+    cam->SetFocalPoint(camera_pose->GetElement(0, 3) - camera_pose->GetElement(0, 2),
+                       camera_pose->GetElement(1, 3) - camera_pose->GetElement(1, 2),
+                       camera_pose->GetElement(2, 3) - camera_pose->GetElement(2, 2));
+
+    cam->SetViewUp(camera_pose->GetElement(0, 1),
+                   camera_pose->GetElement(1, 1),
+                   camera_pose->GetElement(2, 1));
+
+    renderer_->SetActiveCamera(cam);
+    renderer_->ResetCameraClippingRange();
+    renderer_->Render();
+}
+
+///////////////////////////////////////////////////////////////////////////////////
+void cv::viz::Viz3d::VizImpl::resetCamera()
+{
+    renderer_->ResetCamera();
+}
+
+///////////////////////////////////////////////////////////////////////////////////
+void cv::viz::Viz3d::VizImpl::setRepresentation(int representation)
+{
+    vtkActorCollection * actors = renderer_->GetActors();
+    actors->InitTraversal();
+    vtkActor * actor;
+    switch (representation)
+    {
+        case REPRESENTATION_POINTS:
+        {
+            while ((actor = actors->GetNextActor()) != NULL)
+                actor->GetProperty()->SetRepresentationToPoints();
+            break;
+        }
+        case REPRESENTATION_SURFACE:
+        {
+            while ((actor = actors->GetNextActor()) != NULL)
+                actor->GetProperty()->SetRepresentationToSurface();
+            break;
+        }
+        case REPRESENTATION_WIREFRAME:
+        {
+            while ((actor = actors->GetNextActor()) != NULL)
+                actor->GetProperty()->SetRepresentationToWireframe();
+            break;
+        }
+    }
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+cv::String cv::viz::Viz3d::VizImpl::getWindowName() const { return window_name_; }
+void cv::viz::Viz3d::VizImpl::setFullScreen(bool mode) { window_->SetFullScreen(mode); }
+void cv::viz::Viz3d::VizImpl::setWindowPosition(const Point& position) { window_position_ = position; window_->SetPosition(position.x, position.y); }
+void cv::viz::Viz3d::VizImpl::setWindowSize(const Size& window_size) { window_->SetSize(window_size.width, window_size.height); }
+cv::Size cv::viz::Viz3d::VizImpl::getWindowSize() const { return Size(Point(Vec2i(window_->GetSize()))); }
diff --git a/modules/viz/src/vizimpl.hpp b/modules/viz/src/vizimpl.hpp
new file mode 100644
index 0000000000..02675e0a5c
--- /dev/null
+++ b/modules/viz/src/vizimpl.hpp
@@ -0,0 +1,138 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+// Authors:
+//  * Ozan Tonkal, ozantonkal@gmail.com
+//  * Anatoly Baksheev, Itseez Inc.  myname.mysurname <> mycompany.com
+//
+//M*/
+
+#ifndef __OPENCV_VIZ_VIZ3D_IMPL_HPP__
+#define __OPENCV_VIZ_VIZ3D_IMPL_HPP__
+
+struct cv::viz::Viz3d::VizImpl
+{
+public:
+    typedef Viz3d::KeyboardCallback KeyboardCallback;
+    typedef Viz3d::MouseCallback MouseCallback;
+
+    int ref_counter;
+
+    VizImpl(const String &name);
+    virtual ~VizImpl() {}
+
+    bool wasStopped() const;
+    void close();
+
+    void spin();
+    void spinOnce(int time = 1, bool force_redraw = false);
+
+    void showWidget(const String &id, const Widget &widget, const Affine3d &pose = Affine3d::Identity());
+    void removeWidget(const String &id);
+    Widget getWidget(const String &id) const;
+    void removeAllWidgets();
+
+    void showImage(InputArray image, const Size& window_size);
+
+    void setWidgetPose(const String &id, const Affine3d &pose);
+    void updateWidgetPose(const String &id, const Affine3d &pose);
+    Affine3d getWidgetPose(const String &id) const;
+
+    void setRepresentation(int representation);
+
+    void setCamera(const Camera &camera);
+    Camera getCamera() const;
+
+    /** \brief Reset the camera to a given widget */
+    void resetCameraViewpoint(const String& id);
+    void resetCamera();
+
+    void setViewerPose(const Affine3d &pose);
+    Affine3d getViewerPose();
+
+    void convertToWindowCoordinates(const Point3d &pt, Point3d &window_coord);
+    void converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction);
+
+    void saveScreenshot(const String &file);
+    void setWindowPosition(const Point& position);
+    Size getWindowSize() const;
+    void setWindowSize(const Size& window_size);
+    void setFullScreen(bool mode);
+    String getWindowName() const;
+    void setBackgroundColor(const Color& color, const Color& color2);
+    void setBackgroundTexture(InputArray image);
+    void setBackgroundMeshLab();
+
+    void registerKeyboardCallback(KeyboardCallback callback, void* cookie = 0);
+    void registerMouseCallback(MouseCallback callback, void* cookie = 0);
+
+private:
+    struct TimerCallback : public vtkCommand
+    {
+        static TimerCallback* New() { return new TimerCallback; }
+        virtual void Execute(vtkObject* caller, unsigned long event_id, void* cookie);
+        int timer_id;
+    };
+
+    struct ExitCallback : public vtkCommand
+    {
+        static ExitCallback* New() { return new ExitCallback; }
+        virtual void Execute(vtkObject*, unsigned long event_id, void*);
+        VizImpl* viz;
+    };
+
+    mutable bool spin_once_state_;
+    vtkSmartPointer<vtkRenderWindowInteractor> interactor_;
+
+    vtkSmartPointer<vtkRenderWindow> window_;
+    String window_name_;
+    Vec2i window_position_;
+
+    vtkSmartPointer<TimerCallback> timer_callback_;
+    vtkSmartPointer<ExitCallback> exit_callback_;
+
+    vtkSmartPointer<vtkRenderer> renderer_;
+    vtkSmartPointer<InteractorStyle> style_;
+    Ptr<WidgetActorMap> widget_actor_map_;
+
+    bool removeActorFromRenderer(vtkSmartPointer<vtkProp> actor);
+    void recreateRenderWindow();
+};
+
+#endif
diff --git a/modules/viz/src/vtk/vtkCloudMatSink.cpp b/modules/viz/src/vtk/vtkCloudMatSink.cpp
new file mode 100644
index 0000000000..09ef0cca99
--- /dev/null
+++ b/modules/viz/src/vtk/vtkCloudMatSink.cpp
@@ -0,0 +1,158 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+// Authors:
+//  * Anatoly Baksheev, Itseez Inc.  myname.mysurname <> mycompany.com
+//
+//M*/
+
+#include "precomp.hpp"
+
+namespace cv { namespace viz
+{
+    vtkStandardNewMacro(vtkCloudMatSink);
+}}
+
+cv::viz::vtkCloudMatSink::vtkCloudMatSink() {}
+cv::viz::vtkCloudMatSink::~vtkCloudMatSink() {}
+
+void cv::viz::vtkCloudMatSink::SetOutput(OutputArray _cloud, OutputArray _colors, OutputArray _normals, OutputArray _tcoords)
+{
+    cloud = _cloud;
+    colors = _colors;
+    normals = _normals;
+    tcoords = _tcoords;
+}
+
+void cv::viz::vtkCloudMatSink::WriteData()
+{
+    vtkPolyData *input = this->GetInput();
+    if (!input)
+        return;
+
+    vtkSmartPointer<vtkPoints> points_Data = input->GetPoints();
+
+    if (cloud.needed() && points_Data)
+    {
+        int vtktype = points_Data->GetDataType();
+        CV_Assert(vtktype == VTK_FLOAT || vtktype == VTK_DOUBLE);
+
+        cloud.create(1, points_Data->GetNumberOfPoints(), vtktype == VTK_FLOAT ? CV_32FC3 : CV_64FC3);
+        Vec3d *ddata = cloud.getMat().ptr<Vec3d>();
+        Vec3f *fdata = cloud.getMat().ptr<Vec3f>();
+
+        if (cloud.depth() == CV_32F)
+            for(size_t i = 0; i < cloud.total(); ++i)
+                *fdata++ = Vec3d(points_Data->GetPoint(i));
+
+        if (cloud.depth() == CV_64F)
+            for(size_t i = 0; i < cloud.total(); ++i)
+                *ddata++ = Vec3d(points_Data->GetPoint(i));
+    }
+    else
+        cloud.release();
+
+    vtkSmartPointer<vtkDataArray> scalars_data = input->GetPointData() ? input->GetPointData()->GetScalars() : 0;
+
+    if (colors.needed() && scalars_data)
+    {
+        int channels = scalars_data->GetNumberOfComponents();
+        int vtktype = scalars_data->GetDataType();
+
+        CV_Assert((channels == 3 || channels == 4) && "Only 3- or 4-channel color data support is implemented");
+        CV_Assert(cloud.total() == (size_t)scalars_data->GetNumberOfTuples());
+
+        Mat buffer(cloud.size(), CV_64FC(channels));
+        Vec3d *cptr = buffer.ptr<Vec3d>();
+        for(size_t i = 0; i < buffer.total(); ++i)
+            *cptr++ = Vec3d(scalars_data->GetTuple(i));
+
+        buffer.convertTo(colors, CV_8U, vtktype == VTK_FLOAT || VTK_FLOAT == VTK_DOUBLE ?  255.0 : 1.0);
+    }
+    else
+        colors.release();
+
+    vtkSmartPointer<vtkDataArray> normals_data = input->GetPointData() ? input->GetPointData()->GetNormals() : 0;
+
+    if (normals.needed() && normals_data)
+    {
+        int channels = normals_data->GetNumberOfComponents();
+        int vtktype = normals_data->GetDataType();
+
+        CV_Assert((vtktype == VTK_FLOAT || VTK_FLOAT == VTK_DOUBLE) && (channels == 3 || channels == 4));
+        CV_Assert(cloud.total() == (size_t)normals_data->GetNumberOfTuples());
+
+        Mat buffer(cloud.size(), CV_64FC(channels));
+        Vec3d *cptr = buffer.ptr<Vec3d>();
+        for(size_t i = 0; i < buffer.total(); ++i)
+            *cptr++ = Vec3d(normals_data->GetTuple(i));
+
+        buffer.convertTo(normals, vtktype == VTK_FLOAT ? CV_32F : CV_64F);
+    }
+    else
+        normals.release();
+
+    vtkSmartPointer<vtkDataArray> coords_data = input->GetPointData() ? input->GetPointData()->GetTCoords() : 0;
+
+    if (tcoords.needed() && coords_data)
+    {
+        int vtktype = coords_data->GetDataType();
+
+        CV_Assert(vtktype == VTK_FLOAT || VTK_FLOAT == VTK_DOUBLE);
+        CV_Assert(cloud.total() == (size_t)coords_data->GetNumberOfTuples());
+
+        Mat buffer(cloud.size(), CV_64FC2);
+        Vec2d *cptr = buffer.ptr<Vec2d>();
+        for(size_t i = 0; i < buffer.total(); ++i)
+            *cptr++ = Vec2d(coords_data->GetTuple(i));
+
+        buffer.convertTo(tcoords, vtktype == VTK_FLOAT ? CV_32F : CV_64F);
+
+    }
+    else
+        tcoords.release();
+}
+
+void cv::viz::vtkCloudMatSink::PrintSelf(ostream& os, vtkIndent indent)
+{
+  Superclass::PrintSelf(os, indent);
+  os << indent << "Cloud: " << cloud.needed() << "\n";
+  os << indent << "Colors: " << colors.needed() << "\n";
+  os << indent << "Normals: " << normals.needed() << "\n";
+}
diff --git a/modules/viz/src/vtk/vtkCloudMatSink.h b/modules/viz/src/vtk/vtkCloudMatSink.h
new file mode 100644
index 0000000000..44d7e52a5a
--- /dev/null
+++ b/modules/viz/src/vtk/vtkCloudMatSink.h
@@ -0,0 +1,79 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+// Authors:
+//  * Anatoly Baksheev, Itseez Inc.  myname.mysurname <> mycompany.com
+//
+//M*/
+
+#ifndef __vtkCloudMatSink_h
+#define __vtkCloudMatSink_h
+
+#include <opencv2/core/core.hpp>
+#include <vtkPolyDataWriter.h>
+
+namespace cv
+{
+    namespace viz
+    {
+        class vtkCloudMatSink : public vtkPolyDataWriter
+        {
+        public:
+          static vtkCloudMatSink *New();
+          vtkTypeMacro(vtkCloudMatSink,vtkPolyDataWriter)
+          void PrintSelf(ostream& os, vtkIndent indent);
+
+          void SetOutput(OutputArray cloud, OutputArray colors = noArray(), OutputArray normals = noArray(), OutputArray tcoords = noArray());
+
+        protected:
+          vtkCloudMatSink();
+          ~vtkCloudMatSink();
+
+          void WriteData();
+
+          _OutputArray cloud, colors, normals, tcoords;
+
+        private:
+          vtkCloudMatSink(const vtkCloudMatSink&);  // Not implemented.
+          void operator=(const vtkCloudMatSink&);  // Not implemented.
+        };
+    }
+}
+
+#endif
diff --git a/modules/viz/src/vtk/vtkCloudMatSource.cpp b/modules/viz/src/vtk/vtkCloudMatSource.cpp
new file mode 100644
index 0000000000..74d01bbd01
--- /dev/null
+++ b/modules/viz/src/vtk/vtkCloudMatSource.cpp
@@ -0,0 +1,286 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+// Authors:
+//  * Anatoly Baksheev, Itseez Inc.  myname.mysurname <> mycompany.com
+//
+//M*/
+
+#include "precomp.hpp"
+
+namespace cv { namespace viz
+{
+    vtkStandardNewMacro(vtkCloudMatSource);
+
+    template<typename _Tp> struct VtkDepthTraits;
+
+    template<> struct VtkDepthTraits<float>
+    {
+        const static int data_type = VTK_FLOAT;
+        typedef vtkFloatArray array_type;
+    };
+
+    template<> struct VtkDepthTraits<double>
+    {
+        const static int data_type = VTK_DOUBLE;
+        typedef vtkDoubleArray array_type;
+    };
+}}
+
+cv::viz::vtkCloudMatSource::vtkCloudMatSource() { SetNumberOfInputPorts(0); }
+cv::viz::vtkCloudMatSource::~vtkCloudMatSource() {}
+
+int cv::viz::vtkCloudMatSource::SetCloud(InputArray _cloud)
+{
+    CV_Assert(_cloud.depth() == CV_32F || _cloud.depth() == CV_64F);
+    CV_Assert(_cloud.channels() == 3 || _cloud.channels() == 4);
+
+    Mat cloud = _cloud.getMat();
+
+    int total = _cloud.depth() == CV_32F ? filterNanCopy<float>(cloud) : filterNanCopy<double>(cloud);
+
+    vertices = vtkSmartPointer<vtkCellArray>::New();
+    vertices->Allocate(vertices->EstimateSize(1, total));
+    vertices->InsertNextCell(total);
+    for(int i = 0; i < total; ++i)
+        vertices->InsertCellPoint(i);
+
+    return total;
+}
+
+int cv::viz::vtkCloudMatSource::SetColorCloud(InputArray _cloud, InputArray _colors)
+{
+    int total = SetCloud(_cloud);
+
+    if (_colors.empty())
+        return total;
+
+    CV_Assert(_colors.depth() == CV_8U && _colors.channels() <= 4 && _colors.channels() != 2);
+    CV_Assert(_colors.size() == _cloud.size());
+
+    Mat cloud = _cloud.getMat();
+    Mat colors = _colors.getMat();
+
+    if (cloud.depth() == CV_32F)
+        filterNanColorsCopy<float>(colors, cloud, total);
+    else if (cloud.depth() == CV_64F)
+        filterNanColorsCopy<double>(colors, cloud, total);
+
+    return total;
+}
+
+int cv::viz::vtkCloudMatSource::SetColorCloudNormals(InputArray _cloud, InputArray _colors, InputArray _normals)
+{
+    int total = SetColorCloud(_cloud, _colors);
+
+    if (_normals.empty())
+        return total;
+
+    CV_Assert(_normals.depth() == CV_32F || _normals.depth() == CV_64F);
+    CV_Assert(_normals.channels() == 3 || _normals.channels() == 4);
+    CV_Assert(_normals.size() == _cloud.size());
+
+    Mat c = _cloud.getMat();
+    Mat n = _normals.getMat();
+
+    if (n.depth() == CV_32F && c.depth() == CV_32F)
+        filterNanNormalsCopy<float, float>(n, c, total);
+    else if (n.depth() == CV_32F && c.depth() == CV_64F)
+        filterNanNormalsCopy<float, double>(n, c, total);
+    else if (n.depth() == CV_64F && c.depth() == CV_32F)
+        filterNanNormalsCopy<double, float>(n, c, total);
+    else if (n.depth() == CV_64F && c.depth() == CV_64F)
+        filterNanNormalsCopy<double, double>(n, c, total);
+    else
+        CV_Assert(!"Unsupported normals/cloud type");
+
+    return total;
+}
+
+int cv::viz::vtkCloudMatSource::SetColorCloudNormalsTCoords(InputArray _cloud, InputArray _colors, InputArray _normals, InputArray _tcoords)
+{
+    int total = SetColorCloudNormals(_cloud, _colors, _normals);
+
+    if (_tcoords.empty())
+        return total;
+
+    CV_Assert(_tcoords.depth() == CV_32F || _tcoords.depth() == CV_64F);
+    CV_Assert(_tcoords.channels() == 2 && _tcoords.size() == _cloud.size());
+
+    Mat cl = _cloud.getMat();
+    Mat tc = _tcoords.getMat();
+
+    if (tc.depth() == CV_32F && cl.depth() == CV_32F)
+        filterNanTCoordsCopy<float, float>(tc, cl, total);
+    else if (tc.depth() == CV_32F && cl.depth() == CV_64F)
+        filterNanTCoordsCopy<float, double>(tc, cl, total);
+    else if (tc.depth() == CV_64F && cl.depth() == CV_32F)
+        filterNanTCoordsCopy<double, float>(tc, cl, total);
+    else if (tc.depth() == CV_64F && cl.depth() == CV_64F)
+        filterNanTCoordsCopy<double, double>(tc, cl, total);
+    else
+        CV_Assert(!"Unsupported tcoords/cloud type");
+
+    return total;
+}
+
+int cv::viz::vtkCloudMatSource::RequestData(vtkInformation *vtkNotUsed(request), vtkInformationVector **vtkNotUsed(inputVector), vtkInformationVector *outputVector)
+{
+    vtkInformation *outInfo = outputVector->GetInformationObject(0);
+    vtkPolyData *output = vtkPolyData::SafeDownCast(outInfo->Get(vtkDataObject::DATA_OBJECT()));
+
+    output->SetPoints(points);
+    output->SetVerts(vertices);
+    if (scalars)
+        output->GetPointData()->SetScalars(scalars);
+
+    if (normals)
+        output->GetPointData()->SetNormals(normals);
+
+    if (tcoords)
+        output->GetPointData()->SetTCoords(tcoords);
+
+    return 1;
+}
+
+template<typename _Tp>
+int cv::viz::vtkCloudMatSource::filterNanCopy(const Mat& cloud)
+{
+    CV_DbgAssert(DataType<_Tp>::depth == cloud.depth());
+    points = vtkSmartPointer<vtkPoints>::New();
+    points->SetDataType(VtkDepthTraits<_Tp>::data_type);
+    points->Allocate(cloud.total());
+    points->SetNumberOfPoints(cloud.total());
+
+    int s_chs = cloud.channels();
+    int total = 0;
+    for (int y = 0; y < cloud.rows; ++y)
+    {
+        const _Tp* srow = cloud.ptr<_Tp>(y);
+        const _Tp* send = srow + cloud.cols * s_chs;
+
+        for (; srow != send; srow += s_chs)
+            if (!isNan(srow))
+                points->SetPoint(total++, srow);
+    }
+    points->SetNumberOfPoints(total);
+    points->Squeeze();
+    return total;
+}
+
+template<typename _Msk>
+void cv::viz::vtkCloudMatSource::filterNanColorsCopy(const Mat& cloud_colors, const Mat& mask, int total)
+{
+    Vec3b* array = new Vec3b[total];
+    Vec3b* pos = array;
+
+    int s_chs = cloud_colors.channels();
+    int m_chs = mask.channels();
+    for (int y = 0; y < cloud_colors.rows; ++y)
+    {
+        const unsigned char* srow = cloud_colors.ptr<unsigned char>(y);
+        const unsigned char* send = srow + cloud_colors.cols * s_chs;
+        const _Msk* mrow = mask.ptr<_Msk>(y);
+
+        if (cloud_colors.channels() == 1)
+        {
+            for (; srow != send; srow += s_chs, mrow += m_chs)
+                if (!isNan(mrow))
+                    *pos++ = Vec3b(srow[0], srow[0], srow[0]);
+        }
+        else
+            for (; srow != send; srow += s_chs, mrow += m_chs)
+                if (!isNan(mrow))
+                    *pos++ = Vec3b(srow[2], srow[1], srow[0]);
+
+    }
+
+    scalars = vtkSmartPointer<vtkUnsignedCharArray>::New();
+    scalars->SetName("Colors");
+    scalars->SetNumberOfComponents(3);
+    scalars->SetNumberOfTuples(total);
+    scalars->SetArray(array->val, total * 3, 0);
+}
+
+template<typename _Tn, typename _Msk>
+void cv::viz::vtkCloudMatSource::filterNanNormalsCopy(const Mat& cloud_normals, const Mat& mask, int total)
+{
+    normals = vtkSmartPointer< typename VtkDepthTraits<_Tn>::array_type >::New();
+    normals->SetName("Normals");
+    normals->SetNumberOfComponents(3);
+    normals->SetNumberOfTuples(total);
+
+    int s_chs = cloud_normals.channels();
+    int m_chs = mask.channels();
+
+    int pos = 0;
+    for (int y = 0; y < cloud_normals.rows; ++y)
+    {
+        const _Tn* srow = cloud_normals.ptr<_Tn>(y);
+        const _Tn* send = srow + cloud_normals.cols * s_chs;
+
+        const _Msk* mrow = mask.ptr<_Msk>(y);
+
+        for (; srow != send; srow += s_chs, mrow += m_chs)
+            if (!isNan(mrow))
+                normals->SetTuple(pos++, srow);
+    }
+}
+
+template<typename _Tn, typename _Msk>
+void cv::viz::vtkCloudMatSource::filterNanTCoordsCopy(const Mat& _tcoords, const Mat& mask, int total)
+{
+    typedef Vec<_Tn, 2> Vec2;
+    tcoords = vtkSmartPointer< typename VtkDepthTraits<_Tn>::array_type >::New();
+    tcoords->SetName("TextureCoordinates");
+    tcoords->SetNumberOfComponents(2);
+    tcoords->SetNumberOfTuples(total);
+
+    int pos = 0;
+    for (int y = 0; y < mask.rows; ++y)
+    {
+        const Vec2* srow = _tcoords.ptr<Vec2>(y);
+        const Vec2* send = srow + _tcoords.cols;
+        const _Msk* mrow = mask.ptr<_Msk>(y);
+
+        for (; srow != send; ++srow, mrow += mask.channels())
+            if (!isNan(mrow))
+                tcoords->SetTuple(pos++, srow->val);
+    }
+}
diff --git a/modules/viz/src/vtk/vtkCloudMatSource.h b/modules/viz/src/vtk/vtkCloudMatSource.h
new file mode 100644
index 0000000000..4097f9cc87
--- /dev/null
+++ b/modules/viz/src/vtk/vtkCloudMatSource.h
@@ -0,0 +1,96 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+// Authors:
+//  * Anatoly Baksheev, Itseez Inc.  myname.mysurname <> mycompany.com
+//
+//M*/
+
+#ifndef __vtkCloudMatSource_h
+#define __vtkCloudMatSource_h
+
+#include <opencv2/core/core.hpp>
+#include <vtkPolyDataAlgorithm.h>
+#include <vtkSmartPointer.h>
+#include <vtkPoints.h>
+#include <vtkCellArray.h>
+
+namespace cv
+{
+    namespace viz
+    {
+        class vtkCloudMatSource : public vtkPolyDataAlgorithm
+        {
+        public:
+            static vtkCloudMatSource *New();
+            vtkTypeMacro(vtkCloudMatSource,vtkPolyDataAlgorithm)
+
+            virtual int SetCloud(InputArray cloud);
+            virtual int SetColorCloud(InputArray cloud, InputArray colors);
+            virtual int SetColorCloudNormals(InputArray cloud, InputArray colors, InputArray normals);
+            virtual int SetColorCloudNormalsTCoords(InputArray cloud, InputArray colors, InputArray normals, InputArray tcoords);
+
+        protected:
+            vtkCloudMatSource();
+            ~vtkCloudMatSource();
+
+            int RequestData(vtkInformation *, vtkInformationVector **, vtkInformationVector *);
+
+            vtkSmartPointer<vtkPoints> points;
+            vtkSmartPointer<vtkCellArray> vertices;
+            vtkSmartPointer<vtkUnsignedCharArray> scalars;
+            vtkSmartPointer<vtkDataArray> normals;
+            vtkSmartPointer<vtkDataArray> tcoords;
+        private:
+            vtkCloudMatSource(const vtkCloudMatSource&);  // Not implemented.
+            void operator=(const vtkCloudMatSource&);  // Not implemented.
+
+            template<typename _Tp> int filterNanCopy(const Mat& cloud);
+            template<typename _Msk> void filterNanColorsCopy(const Mat& cloud_colors, const Mat& mask, int total);
+
+            template<typename _Tn, typename _Msk>
+            void filterNanNormalsCopy(const Mat& cloud_normals, const Mat& mask, int total);
+
+            template<typename _Tn, typename _Msk>
+            void filterNanTCoordsCopy(const Mat& tcoords, const Mat& mask, int total);
+        };
+    }
+}
+
+#endif
diff --git a/modules/viz/src/vtk/vtkImageMatSource.cpp b/modules/viz/src/vtk/vtkImageMatSource.cpp
new file mode 100644
index 0000000000..58a5642d46
--- /dev/null
+++ b/modules/viz/src/vtk/vtkImageMatSource.cpp
@@ -0,0 +1,143 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+// Authors:
+//  * Anatoly Baksheev, Itseez Inc.  myname.mysurname <> mycompany.com
+//
+//M*/
+
+#include "precomp.hpp"
+
+namespace cv { namespace viz
+{
+    vtkStandardNewMacro(vtkImageMatSource);
+}}
+
+cv::viz::vtkImageMatSource::vtkImageMatSource()
+{
+    this->SetNumberOfInputPorts(0);
+    this->ImageData = vtkImageData::New();
+}
+
+int cv::viz::vtkImageMatSource::RequestInformation(vtkInformation *, vtkInformationVector**, vtkInformationVector *outputVector)
+{
+    vtkInformation* outInfo = outputVector->GetInformationObject(0);
+
+    outInfo->Set(vtkStreamingDemandDrivenPipeline::WHOLE_EXTENT(), this->ImageData->GetExtent(), 6);
+    outInfo->Set(vtkDataObject::SPACING(), 1.0, 1.0, 1.0);
+    outInfo->Set(vtkDataObject::ORIGIN(),  0.0, 0.0, 0.0);
+
+    vtkDataObject::SetPointDataActiveScalarInfo(outInfo, this->ImageData->GetScalarType(), this->ImageData->GetNumberOfScalarComponents());
+    return 1;
+}
+
+int cv::viz::vtkImageMatSource::RequestData(vtkInformation*, vtkInformationVector**, vtkInformationVector *outputVector)
+{
+     vtkInformation *outInfo = outputVector->GetInformationObject(0);
+
+     vtkImageData *output = vtkImageData::SafeDownCast(outInfo->Get(vtkDataObject::DATA_OBJECT()) );
+     output->ShallowCopy(this->ImageData);
+     return 1;
+}
+
+void cv::viz::vtkImageMatSource::SetImage(InputArray _image)
+{
+    CV_Assert(_image.depth() == CV_8U && (_image.channels() == 1 || _image.channels() == 3 || _image.channels() == 4));
+
+    Mat image = _image.getMat();
+
+    this->ImageData->SetDimensions(image.cols, image.rows, 1);
+#if VTK_MAJOR_VERSION <= 5
+    this->ImageData->SetNumberOfScalarComponents(image.channels());
+    this->ImageData->SetScalarTypeToUnsignedChar();
+    this->ImageData->AllocateScalars();
+#else
+    this->ImageData->AllocateScalars(VTK_UNSIGNED_CHAR, image.channels());
+#endif
+
+    switch(image.channels())
+    {
+    case 1: copyGrayImage(image, this->ImageData); break;
+    case 3: copyRGBImage (image, this->ImageData); break;
+    case 4: copyRGBAImage(image, this->ImageData); break;
+    }
+    this->ImageData->Modified();
+}
+
+void cv::viz::vtkImageMatSource::copyGrayImage(const Mat &source, vtkSmartPointer<vtkImageData> output)
+{
+    unsigned char* dptr = reinterpret_cast<unsigned char*>(output->GetScalarPointer());
+    size_t elem_step = output->GetIncrements()[1]/sizeof(unsigned char);
+
+    for (int y = 0; y < source.rows; ++y)
+    {
+        unsigned char* drow = dptr + elem_step * y;
+        const unsigned char *srow = source.ptr<unsigned char>(y);
+        for (int x = 0; x < source.cols; ++x)
+            drow[x] = *srow++;
+    }
+}
+
+void cv::viz::vtkImageMatSource::copyRGBImage(const Mat &source, vtkSmartPointer<vtkImageData> output)
+{
+    Vec3b* dptr = reinterpret_cast<Vec3b*>(output->GetScalarPointer());
+    size_t elem_step = output->GetIncrements()[1]/sizeof(Vec3b);
+
+    for (int y = 0; y < source.rows; ++y)
+    {
+        Vec3b* drow = dptr + elem_step * y;
+        const unsigned char *srow = source.ptr<unsigned char>(y);
+        for (int x = 0; x < source.cols; ++x, srow += source.channels())
+            drow[x] = Vec3b(srow[2], srow[1], srow[0]);
+    }
+}
+
+void cv::viz::vtkImageMatSource::copyRGBAImage(const Mat &source, vtkSmartPointer<vtkImageData> output)
+{
+    Vec4b* dptr = reinterpret_cast<Vec4b*>(output->GetScalarPointer());
+    size_t elem_step = output->GetIncrements()[1]/sizeof(Vec4b);
+
+    for (int y = 0; y < source.rows; ++y)
+    {
+        Vec4b* drow = dptr + elem_step * y;
+        const unsigned char *srow = source.ptr<unsigned char>(y);
+        for (int x = 0; x < source.cols; ++x, srow += source.channels())
+            drow[x] = Vec4b(srow[2], srow[1], srow[0], srow[3]);
+    }
+}
diff --git a/modules/viz/src/vtk/vtkImageMatSource.h b/modules/viz/src/vtk/vtkImageMatSource.h
new file mode 100644
index 0000000000..db0c093ed8
--- /dev/null
+++ b/modules/viz/src/vtk/vtkImageMatSource.h
@@ -0,0 +1,82 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+// Authors:
+//  * Anatoly Baksheev, Itseez Inc.  myname.mysurname <> mycompany.com
+//
+//M*/
+
+#include "precomp.hpp"
+
+#ifndef __vtkImageMatSource_h
+#define __vtkImageMatSource_h
+
+namespace cv
+{
+    namespace viz
+    {
+        class vtkImageMatSource : public vtkImageAlgorithm
+        {
+        public:
+            static vtkImageMatSource *New();
+            vtkTypeMacro(vtkImageMatSource,vtkImageAlgorithm);
+
+            void SetImage(InputArray image);
+
+        protected:
+            vtkImageMatSource();
+            ~vtkImageMatSource() {}
+
+            vtkSmartPointer<vtkImageData> ImageData;
+
+            int RequestInformation(vtkInformation*, vtkInformationVector**, vtkInformationVector*);
+            int RequestData (vtkInformation*, vtkInformationVector**, vtkInformationVector*);
+        private:
+            vtkImageMatSource(const vtkImageMatSource&);  // Not implemented.
+            void operator=(const vtkImageMatSource&);  // Not implemented.
+
+            static void copyGrayImage(const Mat &source, vtkSmartPointer<vtkImageData> output);
+            static void copyRGBImage (const Mat &source, vtkSmartPointer<vtkImageData> output);
+            static void copyRGBAImage(const Mat &source, vtkSmartPointer<vtkImageData> output);
+        };
+    }
+}
+
+
+#endif
diff --git a/modules/viz/src/vtk/vtkOBJWriter.cpp b/modules/viz/src/vtk/vtkOBJWriter.cpp
new file mode 100644
index 0000000000..452ad19a7a
--- /dev/null
+++ b/modules/viz/src/vtk/vtkOBJWriter.cpp
@@ -0,0 +1,241 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+// Authors:
+//  * Anatoly Baksheev, Itseez Inc.  myname.mysurname <> mycompany.com
+//
+//M*/
+
+#include "precomp.hpp"
+
+namespace cv { namespace viz
+{
+    vtkStandardNewMacro(vtkOBJWriter);
+}}
+
+cv::viz::vtkOBJWriter::vtkOBJWriter()
+{
+    std::ofstream fout; // only used to extract the default precision
+    this->DecimalPrecision = fout.precision();
+    this->FileName = NULL;
+    this->FileType = VTK_ASCII;
+}
+
+cv::viz::vtkOBJWriter::~vtkOBJWriter(){}
+
+void cv::viz::vtkOBJWriter::WriteData()
+{
+    vtkPolyData *input = this->GetInput();
+    if (!input)
+        return;
+
+    std::ostream *outfilep = this->OpenVTKFile();
+    if (!outfilep)
+        return;
+
+    std::ostream& outfile = *outfilep;
+
+    //write header
+    outfile << "# wavefront obj file written by the visualization toolkit" << std::endl << std::endl;
+    outfile << "mtllib NONE" << std::endl << std::endl;
+
+    // write out the points
+    for (int i = 0; i < input->GetNumberOfPoints(); i++)
+    {
+        Vec3d p;
+        input->GetPoint(i, p.val);
+        outfile << std::setprecision(this->DecimalPrecision) << "v " << p[0] << " " << p[1] << " " << p[2] << std::endl;
+    }
+
+    const int idStart = 1;
+
+    // write out the point data
+    vtkSmartPointer<vtkDataArray> normals = input->GetPointData()->GetNormals();
+    if(normals)
+    {
+        for (int i = 0; i < normals->GetNumberOfTuples(); i++)
+        {
+            Vec3d p;
+            normals->GetTuple(i, p.val);
+            outfile << std::setprecision(this->DecimalPrecision) << "vn " << p[0] << " " << p[1] << " " << p[2] << std::endl;
+        }
+    }
+
+    vtkSmartPointer<vtkDataArray> tcoords = input->GetPointData()->GetTCoords();
+    if (tcoords)
+    {
+        for (int i = 0; i < tcoords->GetNumberOfTuples(); i++)
+        {
+            Vec2d p;
+            tcoords->GetTuple(i, p.val);
+            outfile << std::setprecision(this->DecimalPrecision) << "vt " << p[0] << " " << p[1] << std::endl;
+        }
+    }
+
+    // write out a group name and material
+    outfile << std::endl << "g grp" << idStart << std::endl;
+    outfile << "usemtl mtlNONE" << std::endl;
+
+    // write out verts if any
+    if (input->GetNumberOfVerts() > 0)
+    {
+        vtkIdType npts = 0, *index = 0;
+        vtkCellArray *cells = input->GetVerts();
+        for (cells->InitTraversal(); cells->GetNextCell(npts, index); )
+        {
+            outfile << "p ";
+            for (int i = 0; i < npts; i++)
+                outfile << index[i] + idStart << " ";
+            outfile << std::endl;
+        }
+    }
+
+    // write out lines if any
+    if (input->GetNumberOfLines() > 0)
+    {
+        vtkIdType npts = 0, *index = 0;
+        vtkCellArray *cells = input->GetLines();
+        for (cells->InitTraversal(); cells->GetNextCell(npts, index); )
+        {
+            outfile << "l ";
+            if (tcoords)
+            {
+                for (int i = 0; i < npts; i++)
+                    outfile << index[i] + idStart << "/" << index[i] + idStart << " ";
+            }
+            else
+                for (int i = 0; i < npts; i++)
+                    outfile << index[i] + idStart << " ";
+
+            outfile << std::endl;
+        }
+    }
+
+    // write out polys if any
+    if (input->GetNumberOfPolys() > 0)
+    {
+        vtkIdType npts = 0, *index = 0;
+        vtkCellArray *cells = input->GetPolys();
+        for (cells->InitTraversal(); cells->GetNextCell(npts, index); )
+        {
+            outfile << "f ";
+            for (int i = 0; i < npts; i++)
+            {
+                if (normals)
+                {
+                    if (tcoords)
+                        outfile << index[i] + idStart << "/"  << index[i] + idStart << "/" << index[i] + idStart << " ";
+                    else
+                        outfile << index[i] + idStart << "//" << index[i] + idStart << " ";
+                }
+                else
+                {
+                    if (tcoords)
+                        outfile << index[i] + idStart << " " << index[i] + idStart << " ";
+                    else
+                        outfile << index[i] + idStart << " ";
+                }
+            }
+            outfile << std::endl;
+        }
+    }
+
+    // write out tstrips if any
+    if (input->GetNumberOfStrips() > 0)
+    {
+        vtkIdType npts = 0, *index = 0;
+        vtkCellArray *cells = input->GetStrips();
+        for (cells->InitTraversal(); cells->GetNextCell(npts, index); )
+        {
+            for (int i = 2, i1, i2; i < npts; ++i)
+            {
+                if (i % 2)
+                {
+                    i1 = i - 1;
+                    i2 = i - 2;
+                }
+                else
+                {
+                    i1 = i - 1;
+                    i2 = i - 2;
+                }
+
+                if(normals)
+                {
+                    if (tcoords)
+                    {
+                        outfile << "f " << index[i1] + idStart << "/" << index[i1] + idStart << "/" << index[i1] + idStart << " "
+                            << index[i2]+ idStart << "/" << index[i2] + idStart << "/" << index[i2] + idStart << " "
+                            << index[i] + idStart << "/" << index[i]  + idStart << "/" << index[i]  + idStart << std::endl;
+                    }
+                    else
+                    {
+                        outfile << "f " << index[i1] + idStart << "//" << index[i1] + idStart << " " << index[i2] + idStart
+                                << "//" << index[i2] + idStart << " "  << index[i]  + idStart << "//" << index[i] + idStart << std::endl;
+                    }
+                }
+                else
+                {
+                    if (tcoords)
+                    {
+                        outfile << "f " << index[i1] + idStart << "/" << index[i1] + idStart << " " << index[i2] + idStart
+                                << "/" << index[i2] + idStart << " "  << index[i]  + idStart << "/" << index[i]  + idStart << std::endl;
+                    }
+                    else
+                        outfile << "f " << index[i1] + idStart << " " << index[i2] + idStart << " " << index[i] + idStart << std::endl;
+                }
+            } /* for (int i = 2; i < npts; ++i) */
+        }
+    } /* if (input->GetNumberOfStrips() > 0) */
+
+    this->CloseVTKFile(outfilep);
+
+    // Delete the file if an error occurred
+    if (this->ErrorCode == vtkErrorCode::OutOfDiskSpaceError)
+    {
+        vtkErrorMacro("Ran out of disk space; deleting file: " << this->FileName);
+        unlink(this->FileName);
+    }
+}
+
+void cv::viz::vtkOBJWriter::PrintSelf(ostream& os, vtkIndent indent)
+{
+    Superclass::PrintSelf(os, indent);
+    os << indent << "DecimalPrecision: " << DecimalPrecision << "\n";
+}
diff --git a/modules/viz/src/vtk/vtkOBJWriter.h b/modules/viz/src/vtk/vtkOBJWriter.h
new file mode 100644
index 0000000000..f8889884d7
--- /dev/null
+++ b/modules/viz/src/vtk/vtkOBJWriter.h
@@ -0,0 +1,79 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+// Authors:
+//  * Anatoly Baksheev, Itseez Inc.  myname.mysurname <> mycompany.com
+//
+//M*/
+
+#ifndef __vtkOBJWriter_h
+#define __vtkOBJWriter_h
+
+#include <vtkPolyDataWriter.h>
+
+namespace cv
+{
+    namespace viz
+    {
+        class vtkOBJWriter : public vtkPolyDataWriter
+        {
+        public:
+          static vtkOBJWriter *New();
+          vtkTypeMacro(vtkOBJWriter,vtkPolyDataWriter)
+          void PrintSelf(ostream& os, vtkIndent indent);
+
+          vtkGetMacro(DecimalPrecision, int);
+          vtkSetMacro(DecimalPrecision, int);
+
+        protected:
+          vtkOBJWriter();
+          ~vtkOBJWriter();
+
+          void WriteData();
+
+          int DecimalPrecision;
+
+        private:
+          vtkOBJWriter(const vtkOBJWriter&);  // Not implemented.
+          void operator=(const vtkOBJWriter&);  // Not implemented.
+        };
+    }
+}
+
+#endif
diff --git a/modules/viz/src/vtk/vtkTrajectorySource.cpp b/modules/viz/src/vtk/vtkTrajectorySource.cpp
new file mode 100644
index 0000000000..e098a1d553
--- /dev/null
+++ b/modules/viz/src/vtk/vtkTrajectorySource.cpp
@@ -0,0 +1,110 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+// Authors:
+//  * Anatoly Baksheev, Itseez Inc.  myname.mysurname <> mycompany.com
+//
+//M*/
+
+#include "precomp.hpp"
+
+namespace cv { namespace viz
+{
+    vtkStandardNewMacro(vtkTrajectorySource);
+}}
+
+cv::viz::vtkTrajectorySource::vtkTrajectorySource() { SetNumberOfInputPorts(0); }
+cv::viz::vtkTrajectorySource::~vtkTrajectorySource() {}
+
+void cv::viz::vtkTrajectorySource::SetTrajectory(InputArray _traj)
+{
+    CV_Assert(_traj.kind() == _InputArray::STD_VECTOR || _traj.kind() == _InputArray::MAT);
+    CV_Assert(_traj.type() == CV_32FC(16) || _traj.type() == CV_64FC(16));
+
+    Mat traj;
+    _traj.getMat().convertTo(traj, CV_64F);
+    const Affine3d* dpath = traj.ptr<Affine3d>();
+    size_t total = traj.total();
+
+    points = vtkSmartPointer<vtkPoints>::New();
+    points->SetDataType(VTK_DOUBLE);
+    points->SetNumberOfPoints(total);
+
+    tensors = vtkSmartPointer<vtkDoubleArray>::New();
+    tensors->SetNumberOfComponents(9);
+    tensors->SetNumberOfTuples(total);
+
+    for(size_t i = 0; i < total; ++i, ++dpath)
+    {
+        Matx33d R = dpath->rotation().t();  // transposed because of
+        tensors->SetTuple(i, R.val);        // column major order
+
+        Vec3d p = dpath->translation();
+        points->SetPoint(i, p.val);
+    }
+}
+
+cv::Mat cv::viz::vtkTrajectorySource::ExtractPoints(InputArray _traj)
+{
+    CV_Assert(_traj.kind() == _InputArray::STD_VECTOR || _traj.kind() == _InputArray::MAT);
+    CV_Assert(_traj.type() == CV_32FC(16) || _traj.type() == CV_64FC(16));
+
+    Mat points(1, _traj.total(), CV_MAKETYPE(_traj.depth(), 3));
+    const Affine3d* dpath = _traj.getMat().ptr<Affine3d>();
+    const Affine3f* fpath = _traj.getMat().ptr<Affine3f>();
+
+    if (_traj.depth() == CV_32F)
+        for(int i = 0; i < points.cols; ++i)
+            points.at<Vec3f>(i) = fpath[i].translation();
+
+    if (_traj.depth() == CV_64F)
+        for(int i = 0; i < points.cols; ++i)
+            points.at<Vec3d>(i) = dpath[i].translation();
+
+    return points;
+}
+
+int cv::viz::vtkTrajectorySource::RequestData(vtkInformation *vtkNotUsed(request), vtkInformationVector **vtkNotUsed(inputVector), vtkInformationVector *outputVector)
+{
+    vtkInformation *outInfo = outputVector->GetInformationObject(0);
+    vtkPolyData *output = vtkPolyData::SafeDownCast(outInfo->Get(vtkDataObject::DATA_OBJECT()));
+    output->SetPoints(points);
+    output->GetPointData()->SetTensors(tensors);
+    return 1;
+}
diff --git a/modules/viz/src/vtk/vtkTrajectorySource.h b/modules/viz/src/vtk/vtkTrajectorySource.h
new file mode 100644
index 0000000000..f6c9c77b9c
--- /dev/null
+++ b/modules/viz/src/vtk/vtkTrajectorySource.h
@@ -0,0 +1,84 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+// Authors:
+//  * Anatoly Baksheev, Itseez Inc.  myname.mysurname <> mycompany.com
+//
+//M*/
+
+#ifndef __vtkTrajectorySource_h
+#define __vtkTrajectorySource_h
+
+#include <opencv2/core/mat.hpp>
+#include <vtkPolyDataAlgorithm.h>
+#include <vtkSmartPointer.h>
+#include <vtkPoints.h>
+#include <vtkCellArray.h>
+
+namespace cv
+{
+    namespace viz
+    {
+        class vtkTrajectorySource : public vtkPolyDataAlgorithm
+        {
+        public:
+            static vtkTrajectorySource *New();
+            vtkTypeMacro(vtkTrajectorySource,vtkPolyDataAlgorithm)
+
+            virtual void SetTrajectory(InputArray trajectory);
+
+            static Mat ExtractPoints(InputArray trajectory);
+
+        protected:
+            vtkTrajectorySource();
+            ~vtkTrajectorySource();
+
+            vtkSmartPointer<vtkPoints> points;
+            vtkSmartPointer<vtkDoubleArray> tensors;
+
+            int RequestData(vtkInformation *, vtkInformationVector **, vtkInformationVector *);
+        private:
+            vtkTrajectorySource(const vtkTrajectorySource&);  // Not implemented.
+            void operator=(const vtkTrajectorySource&);  // Not implemented.
+
+        };
+    }
+}
+
+#endif
diff --git a/modules/viz/src/vtk/vtkXYZWriter.cpp b/modules/viz/src/vtk/vtkXYZWriter.cpp
new file mode 100644
index 0000000000..4518a0103a
--- /dev/null
+++ b/modules/viz/src/vtk/vtkXYZWriter.cpp
@@ -0,0 +1,93 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+// Authors:
+//  * Anatoly Baksheev, Itseez Inc.  myname.mysurname <> mycompany.com
+//
+//M*/
+
+#include "precomp.hpp"
+
+namespace cv { namespace viz
+{
+    vtkStandardNewMacro(vtkXYZWriter);
+}}
+
+cv::viz::vtkXYZWriter::vtkXYZWriter()
+{
+    std::ofstream fout; // only used to extract the default precision
+    this->DecimalPrecision = fout.precision();
+}
+
+void cv::viz::vtkXYZWriter::WriteData()
+{
+    vtkPolyData *input = this->GetInput();
+    if (!input)
+        return;
+
+    // OpenVTKFile() will report any errors that happen
+    ostream *outfilep = this->OpenVTKFile();
+    if (!outfilep)
+        return;
+
+    ostream &outfile = *outfilep;
+
+    for(vtkIdType i = 0; i < input->GetNumberOfPoints(); ++i)
+    {
+        Vec3d p;
+        input->GetPoint(i, p.val);
+        outfile << std::setprecision(this->DecimalPrecision) << p[0] << " " << p[1] << " " << p[2] << std::endl;
+    }
+
+    // Close the file
+    this->CloseVTKFile(outfilep);
+
+    // Delete the file if an error occurred
+    if (this->ErrorCode == vtkErrorCode::OutOfDiskSpaceError)
+    {
+        vtkErrorMacro("Ran out of disk space; deleting file: " << this->FileName);
+        unlink(this->FileName);
+    }
+}
+
+void cv::viz::vtkXYZWriter::PrintSelf(ostream& os, vtkIndent indent)
+{
+    this->Superclass::PrintSelf(os,indent);
+    os << indent << "DecimalPrecision: " << this->DecimalPrecision << "\n";
+}
diff --git a/modules/viz/src/vtk/vtkXYZWriter.h b/modules/viz/src/vtk/vtkXYZWriter.h
new file mode 100644
index 0000000000..3db18b793b
--- /dev/null
+++ b/modules/viz/src/vtk/vtkXYZWriter.h
@@ -0,0 +1,78 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+// Authors:
+//  * Anatoly Baksheev, Itseez Inc.  myname.mysurname <> mycompany.com
+//
+//M*/
+
+#ifndef __vtkXYZWriter_h
+#define __vtkXYZWriter_h
+
+#include "vtkPolyDataWriter.h"
+
+namespace cv
+{
+    namespace viz
+    {
+        class vtkXYZWriter : public vtkPolyDataWriter
+        {
+        public:
+            static vtkXYZWriter *New();
+            vtkTypeMacro(vtkXYZWriter,vtkPolyDataWriter)
+            void PrintSelf(ostream& os, vtkIndent indent);
+
+            vtkGetMacro(DecimalPrecision, int)
+            vtkSetMacro(DecimalPrecision, int)
+
+        protected:
+            vtkXYZWriter();
+            ~vtkXYZWriter(){}
+
+            void WriteData();
+
+            int DecimalPrecision;
+
+        private:
+            vtkXYZWriter(const vtkXYZWriter&);  // Not implemented.
+            void operator=(const vtkXYZWriter&);  // Not implemented.
+        };
+    }
+}
+#endif
diff --git a/modules/viz/src/widget.cpp b/modules/viz/src/widget.cpp
new file mode 100644
index 0000000000..33b467ebc7
--- /dev/null
+++ b/modules/viz/src/widget.cpp
@@ -0,0 +1,327 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+// Authors:
+//  * Ozan Tonkal, ozantonkal@gmail.com
+//  * Anatoly Baksheev, Itseez Inc.  myname.mysurname <> mycompany.com
+//
+//M*/
+
+#include "precomp.hpp"
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// widget implementation
+
+class cv::viz::Widget::Impl
+{
+public:
+    vtkSmartPointer<vtkProp> prop;
+    Impl() : prop(0) {}
+};
+
+cv::viz::Widget::Widget() : impl_( new Impl() ) { }
+
+cv::viz::Widget::Widget(const Widget& other) : impl_( new Impl() )
+{
+    if (other.impl_ && other.impl_->prop)
+        impl_->prop = other.impl_->prop;
+}
+
+cv::viz::Widget& cv::viz::Widget::operator=(const Widget& other)
+{
+    if (!impl_)
+        impl_ = new Impl();
+
+    if (other.impl_)
+        impl_->prop = other.impl_->prop;
+    return *this;
+}
+
+cv::viz::Widget::~Widget()
+{
+    if (impl_)
+    {
+        delete impl_;
+        impl_ = 0;
+    }
+}
+
+cv::viz::Widget cv::viz::Widget::fromPlyFile(const String &file_name)
+{
+    CV_Assert(vtkPLYReader::CanReadFile(file_name.c_str()));
+
+    vtkSmartPointer<vtkPLYReader> reader = vtkSmartPointer<vtkPLYReader>::New();
+    reader->SetFileName(file_name.c_str());
+
+    vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New();
+    mapper->SetInputConnection( reader->GetOutputPort() );
+    mapper->ImmediateModeRenderingOff();
+
+    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
+    actor->GetProperty()->SetInterpolationToFlat();
+    actor->GetProperty()->BackfaceCullingOn();
+    actor->SetMapper(mapper);
+
+    Widget widget;
+    WidgetAccessor::setProp(widget, actor);
+    return widget;
+}
+
+void cv::viz::Widget::setRenderingProperty(int property, double value)
+{
+    vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this));
+    CV_Assert("Widget type is not supported." && actor);
+
+    switch (property)
+    {
+        case POINT_SIZE:          actor->GetProperty()->SetPointSize(float(value)); break;
+        case OPACITY:             actor->GetProperty()->SetOpacity(value);          break;
+        case LINE_WIDTH:          actor->GetProperty()->SetLineWidth(float(value)); break;
+        case IMMEDIATE_RENDERING: actor->GetMapper()->SetImmediateModeRendering(int(value)); break;
+        case FONT_SIZE:
+        {
+            vtkTextActor* text_actor = vtkTextActor::SafeDownCast(actor);
+            CV_Assert("Widget does not have text content." && text_actor);
+            text_actor->GetTextProperty()->SetFontSize(int(value));
+            break;
+        }
+        case REPRESENTATION:
+        {
+            switch (int(value))
+            {
+                case REPRESENTATION_POINTS:    actor->GetProperty()->SetRepresentationToPoints(); break;
+                case REPRESENTATION_WIREFRAME: actor->GetProperty()->SetRepresentationToWireframe(); break;
+                case REPRESENTATION_SURFACE:   actor->GetProperty()->SetRepresentationToSurface();  break;
+            }
+            break;
+        }
+        case SHADING:
+        {
+            switch (int(value))
+            {
+                case SHADING_FLAT: actor->GetProperty()->SetInterpolationToFlat(); break;
+                case SHADING_GOURAUD:
+                {
+                    if (!actor->GetMapper()->GetInput()->GetPointData()->GetNormals())
+                    {
+                        vtkSmartPointer<vtkPolyDataMapper> mapper = vtkPolyDataMapper::SafeDownCast(actor->GetMapper());
+                        CV_Assert("Can't set shading property for such type of widget" && mapper);
+
+                        vtkSmartPointer<vtkPolyData> with_normals = VtkUtils::ComputeNormals(mapper->GetInput());
+                        VtkUtils::SetInputData(mapper, with_normals);
+                    }
+                    actor->GetProperty()->SetInterpolationToGouraud();
+                    break;
+                }
+                case SHADING_PHONG:
+                {
+                    if (!actor->GetMapper()->GetInput()->GetPointData()->GetNormals())
+                    {
+                        vtkSmartPointer<vtkPolyDataMapper> mapper = vtkPolyDataMapper::SafeDownCast(actor->GetMapper());
+                        CV_Assert("Can't set shading property for such type of widget" && mapper);
+
+                        vtkSmartPointer<vtkPolyData> with_normals = VtkUtils::ComputeNormals(mapper->GetInput());
+                        VtkUtils::SetInputData(mapper, with_normals);
+                    }
+                    actor->GetProperty()->SetInterpolationToPhong();
+                    break;
+                }
+            }
+            break;
+        }
+        default:
+            CV_Assert("setPointCloudRenderingProperties: Unknown property");
+    }
+    actor->Modified();
+}
+
+double cv::viz::Widget::getRenderingProperty(int property) const
+{
+    vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this));
+    CV_Assert("Widget type is not supported." && actor);
+
+    double value = 0.0;
+    switch (property)
+    {
+        case POINT_SIZE: value = actor->GetProperty()->GetPointSize(); break;
+        case OPACITY:    value = actor->GetProperty()->GetOpacity();   break;
+        case LINE_WIDTH: value = actor->GetProperty()->GetLineWidth(); break;
+        case IMMEDIATE_RENDERING:  value = actor->GetMapper()->GetImmediateModeRendering();  break;
+
+        case FONT_SIZE:
+        {
+            vtkTextActor* text_actor = vtkTextActor::SafeDownCast(actor);
+            CV_Assert("Widget does not have text content." && text_actor);
+            value = text_actor->GetTextProperty()->GetFontSize();;
+            break;
+        }
+        case REPRESENTATION:
+        {
+            switch (actor->GetProperty()->GetRepresentation())
+            {
+                case VTK_POINTS:    value = REPRESENTATION_POINTS; break;
+                case VTK_WIREFRAME: value = REPRESENTATION_WIREFRAME; break;
+                case VTK_SURFACE:   value = REPRESENTATION_SURFACE; break;
+            }
+            break;
+        }
+        case SHADING:
+        {
+            switch (actor->GetProperty()->GetInterpolation())
+            {
+                case VTK_FLAT:      value = SHADING_FLAT; break;
+                case VTK_GOURAUD:   value = SHADING_GOURAUD; break;
+                case VTK_PHONG:     value = SHADING_PHONG; break;
+            }
+            break;
+        }
+        default:
+            CV_Assert("getPointCloudRenderingProperties: Unknown property");
+    }
+    return value;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// widget accessor implementaion
+
+vtkSmartPointer<vtkProp> cv::viz::WidgetAccessor::getProp(const Widget& widget)
+{
+    return widget.impl_->prop;
+}
+
+void cv::viz::WidgetAccessor::setProp(Widget& widget, vtkSmartPointer<vtkProp> prop)
+{
+    widget.impl_->prop = prop;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// widget3D implementation
+
+void cv::viz::Widget3D::setPose(const Affine3d &pose)
+{
+    vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this));
+    CV_Assert("Widget is not 3D." && actor);
+
+    vtkSmartPointer<vtkMatrix4x4> matrix = vtkmatrix(pose.matrix);
+    actor->SetUserMatrix(matrix);
+    actor->Modified();
+}
+
+void cv::viz::Widget3D::updatePose(const Affine3d &pose)
+{
+    vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this));
+    CV_Assert("Widget is not 3D." && actor);
+
+    vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
+    if (!matrix)
+    {
+        setPose(pose);
+        return;
+    }
+
+    Affine3d updated_pose = pose * Affine3d(*matrix->Element);
+    matrix = vtkmatrix(updated_pose.matrix);
+
+    actor->SetUserMatrix(matrix);
+    actor->Modified();
+}
+
+cv::Affine3d cv::viz::Widget3D::getPose() const
+{
+    vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this));
+    CV_Assert("Widget is not 3D." && actor);
+    return Affine3d(*actor->GetUserMatrix()->Element);
+}
+
+void cv::viz::Widget3D::applyTransform(const Affine3d &transform)
+{
+    vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this));
+    CV_Assert("Widget is not 3D actor." && actor);
+
+    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkPolyDataMapper::SafeDownCast(actor->GetMapper());
+    CV_Assert("Widget doesn't have a polydata mapper" && mapper);
+    mapper->Update();
+
+    VtkUtils::SetInputData(mapper, VtkUtils::TransformPolydata(mapper->GetInput(), transform));
+}
+
+void cv::viz::Widget3D::setColor(const Color &color)
+{
+    // Cast to actor instead of prop3d since prop3d doesn't provide getproperty
+    vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this));
+    CV_Assert("Widget type is not supported." && actor);
+
+    Color c = vtkcolor(color);
+    actor->GetMapper()->ScalarVisibilityOff();
+    actor->GetProperty()->SetColor(c.val);
+    actor->GetProperty()->SetEdgeColor(c.val);
+    actor->Modified();
+}
+
+template<> cv::viz::Widget3D cv::viz::Widget::cast<cv::viz::Widget3D>()
+{
+    vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this));
+    CV_Assert("Widget cannot be cast." && actor);
+
+    Widget3D widget;
+    WidgetAccessor::setProp(widget, actor);
+    return widget;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// widget2D implementation
+
+void cv::viz::Widget2D::setColor(const Color &color)
+{
+    vtkActor2D *actor = vtkActor2D::SafeDownCast(WidgetAccessor::getProp(*this));
+    CV_Assert("Widget type is not supported." && actor);
+    Color c = vtkcolor(color);
+    actor->GetProperty()->SetColor(c.val);
+    actor->Modified();
+}
+
+template<> cv::viz::Widget2D cv::viz::Widget::cast<cv::viz::Widget2D>()
+{
+    vtkActor2D *actor = vtkActor2D::SafeDownCast(WidgetAccessor::getProp(*this));
+    CV_Assert("Widget cannot be cast." && actor);
+
+    Widget2D widget;
+    WidgetAccessor::setProp(widget, actor);
+    return widget;
+}
diff --git a/modules/viz/test/test_main.cpp b/modules/viz/test/test_main.cpp
new file mode 100644
index 0000000000..e737d2db31
--- /dev/null
+++ b/modules/viz/test/test_main.cpp
@@ -0,0 +1,3 @@
+#include "test_precomp.hpp"
+
+CV_TEST_MAIN("viz")
diff --git a/modules/viz/test/test_precomp.cpp b/modules/viz/test/test_precomp.cpp
new file mode 100644
index 0000000000..c2673fee69
--- /dev/null
+++ b/modules/viz/test/test_precomp.cpp
@@ -0,0 +1,24 @@
+#include "test_precomp.hpp"
+
+cv::String cv::Path::combine(const String& item1, const String& item2)
+{
+    if (item1.empty())
+        return item2;
+
+    if (item2.empty())
+        return item1;
+
+    char last = item1[item1.size()-1];
+
+    bool need_append = last != '/' && last != '\\';
+    return item1 + (need_append ? "/" : "") + item2;
+}
+
+cv::String cv::Path::combine(const String& item1, const String& item2, const String& item3)
+{ return combine(combine(item1, item2), item3); }
+
+cv::String cv::Path::change_extension(const String& file, const String& ext)
+{
+    String::size_type pos = file.find_last_of('.');
+    return pos == String::npos ? file : file.substr(0, pos+1) + ext;
+}
diff --git a/modules/viz/test/test_precomp.hpp b/modules/viz/test/test_precomp.hpp
new file mode 100644
index 0000000000..cd00b6e73b
--- /dev/null
+++ b/modules/viz/test/test_precomp.hpp
@@ -0,0 +1,104 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+// Authors:
+//  * Ozan Tonkal, ozantonkal@gmail.com
+//  * Anatoly Baksheev, Itseez Inc.  myname.mysurname <> mycompany.com
+//
+//M*/
+
+#ifdef __GNUC__
+#  pragma GCC diagnostic ignored "-Wmissing-declarations"
+#  if defined __clang__ || defined __APPLE__
+#    pragma GCC diagnostic ignored "-Wmissing-prototypes"
+#    pragma GCC diagnostic ignored "-Wextra"
+#  endif
+#endif
+
+#ifndef __OPENCV_TEST_PRECOMP_HPP__
+#define __OPENCV_TEST_PRECOMP_HPP__
+
+#include "opencv2/ts/ts.hpp"
+#include <opencv2/core/core.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/viz/vizcore.hpp>
+
+#include <iostream>
+#include <fstream>
+#include <string>
+#include <limits>
+
+namespace cv
+{
+    struct Path
+    {
+        static String combine(const String& item1, const String& item2);
+        static String combine(const String& item1, const String& item2, const String& item3);
+        static String change_extension(const String& file, const String& ext);
+    };
+
+    inline cv::String get_dragon_ply_file_path()
+    {
+        return Path::combine(cvtest::TS::ptr()->get_data_path(), "dragon.ply");
+    }
+
+    template<typename _Tp>
+    inline std::vector< Affine3<_Tp> > generate_test_trajectory()
+    {
+        std::vector< Affine3<_Tp> > result;
+
+        for (int i = 0, j = 0; i <= 270; i += 3, j += 10)
+        {
+            double x = 2 * cos(i * 3 * CV_PI/180.0) * (1.0 + 0.5 * cos(1.2 + i * 1.2 * CV_PI/180.0));
+            double y = 0.25 + i/270.0 + sin(j * CV_PI/180.0) * 0.2 * sin(0.6 + j * 1.5 * CV_PI/180.0);
+            double z = 2 * sin(i * 3 * CV_PI/180.0) * (1.0 + 0.5 * cos(1.2 + i * CV_PI/180.0));
+            result.push_back(viz::makeCameraPose(Vec3d(x, y, z), Vec3d::all(0.0), Vec3d(0.0, 1.0, 0.0)));
+        }
+        return result;
+    }
+
+    inline Mat make_gray(const Mat& image)
+    {
+        Mat chs[3]; split(image, chs);
+        return 0.114 * chs[0] + 0.58 * chs[1] + 0.3 * chs[2];
+    }
+}
+
+#endif
diff --git a/modules/viz/test/test_tutorial2.cpp b/modules/viz/test/test_tutorial2.cpp
new file mode 100644
index 0000000000..a901adc2c7
--- /dev/null
+++ b/modules/viz/test/test_tutorial2.cpp
@@ -0,0 +1,54 @@
+#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(-1.0, -1.0, -1.0), Point3d(1.0, 1.0, 1.0));
+    axis.setRenderingProperty(viz::LINE_WIDTH, 4.0);
+    myWindow.showWidget("Line Widget", axis);
+
+    /// Construct a cube widget
+    viz::WCube cube_widget(Point3d(0.5, 0.5, 0.0), Point3d(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
+    Vec3d rot_vec = Vec3d::all(0);
+    double translation_phase = 0.0, translation = 0.0;
+    while(!myWindow.wasStopped())
+    {
+        /* Rotation using rodrigues */
+        /// Rotate around (1,1,1)
+        rot_vec[0] += CV_PI * 0.01;
+        rot_vec[1] += CV_PI * 0.01;
+        rot_vec[2] += CV_PI * 0.01;
+
+        /// Shift on (1,1,1)
+        translation_phase += CV_PI * 0.01;
+        translation = sin(translation_phase);
+
+        /// Construct pose
+        Affine3d pose(rot_vec, Vec3d(translation, translation, translation));
+
+        myWindow.setWidgetPose("Cube Widget", pose);
+
+        myWindow.spinOnce(1, true);
+    }
+}
+
+
+TEST(Viz, DISABLED_tutorial2_pose_of_widget)
+{
+    tutorial2();
+}
diff --git a/modules/viz/test/test_tutorial3.cpp b/modules/viz/test/test_tutorial3.cpp
new file mode 100644
index 0000000000..590e29ebfd
--- /dev/null
+++ b/modules/viz/test/test_tutorial3.cpp
@@ -0,0 +1,64 @@
+#include "test_precomp.hpp"
+
+using namespace cv;
+using namespace std;
+
+/**
+ * @function main
+ */
+void tutorial3(bool camera_pov)
+{
+    /// Create a window
+    viz::Viz3d myWindow("Coordinate Frame");
+
+    /// Add coordinate axes
+    myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
+
+    /// Let's assume camera has the following properties
+    Point3d cam_pos(3.0, 3.0, 3.0), cam_focal_point(3.0, 3.0, 2.0), cam_y_dir(-1.0, 0.0, 0.0);
+
+    /// We can get the pose of the cam using makeCameraPose
+    Affine3d cam_pose = viz::makeCameraPose(cam_pos, cam_focal_point, cam_y_dir);
+
+    /// We can get the transformation matrix from camera coordinate system to global using
+    /// - makeTransformToGlobal. We need the axes of the camera
+    Affine3d transform = viz::makeTransformToGlobal(Vec3d(0.0, -1.0, 0.0), Vec3d(-1.0, 0.0, 0.0), Vec3d(0.0, 0.0, -1.0), cam_pos);
+
+    /// Create a cloud widget.
+    Mat dragon_cloud = viz::readCloud(get_dragon_ply_file_path());
+    viz::WCloud cloud_widget(dragon_cloud, viz::Color::green());
+
+    /// Pose of the widget in camera frame
+    Affine3d cloud_pose = Affine3d().translate(Vec3d(0.0, 0.0, 3.0));
+    /// Pose of the widget in global frame
+    Affine3d cloud_pose_global = transform * cloud_pose;
+
+    /// Visualize camera frame
+    if (!camera_pov)
+    {
+        viz::WCameraPosition cpw(0.5); // Coordinate axes
+        viz::WCameraPosition cpw_frustum(Vec2f(0.889484f, 0.523599f)); // Camera frustum
+        myWindow.showWidget("CPW", cpw, cam_pose);
+        myWindow.showWidget("CPW_FRUSTUM", cpw_frustum, cam_pose);
+    }
+
+    /// Visualize widget
+    myWindow.showWidget("bunny", cloud_widget, cloud_pose_global);
+
+    /// Set the viewer pose to that of camera
+    if (camera_pov)
+        myWindow.setViewerPose(cam_pose);
+
+    /// Start event loop.
+    myWindow.spin();
+}
+
+TEST(Viz, DISABLED_tutorial3_global_view)
+{
+    tutorial3(false);
+}
+
+TEST(Viz, DISABLED_tutorial3_camera_view)
+{
+    tutorial3(true);
+}
diff --git a/modules/viz/test/test_viz3d.cpp b/modules/viz/test/test_viz3d.cpp
new file mode 100644
index 0000000000..45d3cdc3cf
--- /dev/null
+++ b/modules/viz/test/test_viz3d.cpp
@@ -0,0 +1,64 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+ //
+ //  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+ //
+ //  By downloading, copying, installing or using the software you agree to this license.
+ //  If you do not agree to this license, do not download, install,
+ //  copy or use the software.
+ //
+ //
+ //                           License Agreement
+ //                For Open Source Computer Vision Library
+ //
+ // Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+ // Copyright (C) 2008-2013, Willow Garage Inc., all rights reserved.
+ // Third party copyrights are property of their respective owners.
+ //
+ // Redistribution and use in source and binary forms, with or without modification,
+ // are permitted provided that the following conditions are met:
+ //
+ //   * Redistribution's of source code must retain the above copyright notice,
+ //     this list of conditions and the following disclaimer.
+ //
+ //   * Redistribution's in binary form must reproduce the above copyright notice,
+ //     this list of conditions and the following disclaimer in the documentation
+ //     and / or other materials provided with the distribution.
+ //
+ //   * The name of the copyright holders may not be used to endorse or promote products
+ //     derived from this software without specific prior written permission.
+ //
+ // This software is provided by the copyright holders and contributors "as is" and
+ // any express or implied warranties, including, but not limited to, the implied
+ // warranties of merchantability and fitness for a particular purpose are disclaimed.
+ // In no event shall the Intel Corporation or contributors be liable for any direct,
+ // indirect, incidental, special, exemplary, or consequential damages
+ // (including, but not limited to, procurement of substitute goods or services;
+ // loss of use, data, or profits; or business interruption) however caused
+ // and on any theory of liability, whether in contract, strict liability,
+ // or tort (including negligence or otherwise) arising in any way out of
+ // the use of this software, even if advised of the possibility of such damage.
+ //
+ //M*/
+#include "test_precomp.hpp"
+
+using namespace cv;
+
+TEST(Viz_viz3d, DISABLED_develop)
+{
+    cv::Mat cloud = cv::viz::readCloud(get_dragon_ply_file_path());
+
+    cv::viz::Viz3d viz("abc");
+    viz.setBackgroundMeshLab();
+    viz.showWidget("coo", cv::viz::WCoordinateSystem(1));
+    viz.showWidget("cloud", cv::viz::WPaintedCloud(cloud));
+
+    //---->>>>> <to_test_in_future>
+    //std::vector<cv::Affine3d> gt, es;
+    //cv::viz::readTrajectory(gt, "d:/Datasets/trajs/gt%05d.xml");
+    //cv::viz::readTrajectory(es, "d:/Datasets/trajs/es%05d.xml");
+    //cv::Mat cloud = cv::viz::readCloud(get_dragon_ply_file_path());
+    //---->>>>> </to_test_in_future>
+
+
+    viz.spin();
+}
diff --git a/modules/viz/test/tests_simple.cpp b/modules/viz/test/tests_simple.cpp
new file mode 100644
index 0000000000..f84b60a475
--- /dev/null
+++ b/modules/viz/test/tests_simple.cpp
@@ -0,0 +1,407 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+ //
+ //  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+ //
+ //  By downloading, copying, installing or using the software you agree to this license.
+ //  If you do not agree to this license, do not download, install,
+ //  copy or use the software.
+ //
+ //
+ //                           License Agreement
+ //                For Open Source Computer Vision Library
+ //
+ // Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+ // Copyright (C) 2008-2013, Willow Garage Inc., all rights reserved.
+ // Third party copyrights are property of their respective owners.
+ //
+ // Redistribution and use in source and binary forms, with or without modification,
+ // are permitted provided that the following conditions are met:
+ //
+ //   * Redistribution's of source code must retain the above copyright notice,
+ //     this list of conditions and the following disclaimer.
+ //
+ //   * Redistribution's in binary form must reproduce the above copyright notice,
+ //     this list of conditions and the following disclaimer in the documentation
+ //     and / or other materials provided with the distribution.
+ //
+ //   * The name of the copyright holders may not be used to endorse or promote products
+ //     derived from this software without specific prior written permission.
+ //
+ // This software is provided by the copyright holders and contributors "as is" and
+ // any express or implied warranties, including, but not limited to, the implied
+ // warranties of merchantability and fitness for a particular purpose are disclaimed.
+ // In no event shall the Intel Corporation or contributors be liable for any direct,
+ // indirect, incidental, special, exemplary, or consequential damages
+ // (including, but not limited to, procurement of substitute goods or services;
+ // loss of use, data, or profits; or business interruption) however caused
+ // and on any theory of liability, whether in contract, strict liability,
+ // or tort (including negligence or otherwise) arising in any way out of
+ // the use of this software, even if advised of the possibility of such damage.
+ //
+ //M*/
+
+#include "test_precomp.hpp"
+
+using namespace cv;
+using namespace cv::viz;
+
+TEST(Viz, show_cloud_bluberry)
+{
+    Mat dragon_cloud = readCloud(get_dragon_ply_file_path());
+
+    Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0));
+
+    Viz3d viz("show_cloud_bluberry");
+    viz.showWidget("coosys", WCoordinateSystem());
+    viz.showWidget("dragon", WCloud(dragon_cloud, Color::bluberry()), pose);
+
+    viz.showWidget("text2d", WText("Bluberry cloud", Point(20, 20), 20, Color::green()));
+    viz.spin();
+}
+
+TEST(Viz, show_cloud_random_color)
+{
+    Mat dragon_cloud = readCloud(get_dragon_ply_file_path());
+
+    Mat colors(dragon_cloud.size(), CV_8UC3);
+    theRNG().fill(colors, RNG::UNIFORM, 0, 255);
+
+    Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0));
+
+    Viz3d viz("show_cloud_random_color");
+    viz.setBackgroundMeshLab();
+    viz.showWidget("coosys", WCoordinateSystem());
+    viz.showWidget("dragon", WCloud(dragon_cloud, colors), pose);
+    viz.showWidget("text2d", WText("Random color cloud", Point(20, 20), 20, Color::green()));
+    viz.spin();
+}
+
+TEST(Viz, show_cloud_masked)
+{
+    Mat dragon_cloud = readCloud(get_dragon_ply_file_path());
+
+    Vec3f qnan = Vec3f::all(std::numeric_limits<float>::quiet_NaN());
+    for(size_t i = 0; i < dragon_cloud.total(); ++i)
+        if (i % 15 != 0)
+            dragon_cloud.at<Vec3f>(i) = qnan;
+
+    Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0));
+
+    Viz3d viz("show_cloud_masked");
+    viz.showWidget("coosys", WCoordinateSystem());
+    viz.showWidget("dragon", WCloud(dragon_cloud), pose);
+    viz.showWidget("text2d", WText("Nan masked cloud", Point(20, 20), 20, Color::green()));
+    viz.spin();
+}
+
+TEST(Viz, show_cloud_collection)
+{
+    Mat cloud = readCloud(get_dragon_ply_file_path());
+
+    WCloudCollection ccol;
+    ccol.addCloud(cloud, Color::white(), Affine3d().translate(Vec3d(0, 0, 0)).rotate(Vec3d(CV_PI/2, 0, 0)));
+    ccol.addCloud(cloud, Color::blue(),  Affine3d().translate(Vec3d(1, 0, 0)));
+    ccol.addCloud(cloud, Color::red(),   Affine3d().translate(Vec3d(2, 0, 0)));
+
+    Viz3d viz("show_cloud_collection");
+    viz.setBackgroundColor(Color::mlab());
+    viz.showWidget("coosys", WCoordinateSystem());
+    viz.showWidget("ccol", ccol);
+    viz.showWidget("text2d", WText("Cloud collection", Point(20, 20), 20, Color::green()));
+    viz.spin();
+}
+
+TEST(Viz, show_painted_clouds)
+{
+    Mat cloud = readCloud(get_dragon_ply_file_path());
+
+    Viz3d viz("show_painted_clouds");
+    viz.setBackgroundMeshLab();
+    viz.showWidget("coosys", WCoordinateSystem());
+    viz.showWidget("cloud1", WPaintedCloud(cloud), Affine3d(Vec3d(0.0, -CV_PI/2, 0.0), Vec3d(-1.5, 0.0, 0.0)));
+    viz.showWidget("cloud2", WPaintedCloud(cloud, Vec3d(0.0, -0.75, -1.0), Vec3d(0.0, 0.75, 0.0)), Affine3d(Vec3d(0.0, CV_PI/2, 0.0), Vec3d(1.5, 0.0, 0.0)));
+    viz.showWidget("cloud3", WPaintedCloud(cloud, Vec3d(0.0, 0.0, -1.0), Vec3d(0.0, 0.0, 1.0), Color::blue(), Color::red()));
+    viz.showWidget("arrow", WArrow(Vec3d(0.0, 1.0, -1.0), Vec3d(0.0, 1.0, 1.0), 0.009, Color::raspberry()));
+    viz.showWidget("text2d", WText("Painted clouds", Point(20, 20), 20, Color::green()));
+    viz.spin();
+}
+
+TEST(Viz, show_mesh)
+{
+    Mesh mesh = Mesh::load(get_dragon_ply_file_path());
+
+    Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0));
+
+    Viz3d viz("show_mesh");
+    viz.showWidget("coosys", WCoordinateSystem());
+    viz.showWidget("mesh", WMesh(mesh), pose);
+    viz.showWidget("text2d", WText("Just mesh", Point(20, 20), 20, Color::green()));
+    viz.spin();
+}
+
+TEST(Viz, show_mesh_random_colors)
+{
+    Mesh mesh = Mesh::load(get_dragon_ply_file_path());
+    theRNG().fill(mesh.colors, RNG::UNIFORM, 0, 255);
+
+    Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0));
+
+    Viz3d viz("show_mesh_random_color");
+    viz.showWidget("coosys", WCoordinateSystem());
+    viz.showWidget("mesh", WMesh(mesh), pose);
+    viz.setRenderingProperty("mesh", SHADING, SHADING_PHONG);
+    viz.showWidget("text2d", WText("Random color mesh", Point(20, 20), 20, Color::green()));
+    viz.spin();
+}
+
+TEST(Viz, show_textured_mesh)
+{
+    Mat lena = imread(Path::combine(cvtest::TS::ptr()->get_data_path(), "lena.png"));
+
+    std::vector<Vec3d> points;
+    std::vector<Vec2d> tcoords;
+    std::vector<int> polygons;
+    for(size_t i = 0; i < 64; ++i)
+    {
+        double angle = CV_PI/2 * i/64.0;
+        points.push_back(Vec3d(0.00, cos(angle), sin(angle))*0.75);
+        points.push_back(Vec3d(1.57, cos(angle), sin(angle))*0.75);
+        tcoords.push_back(Vec2d(0.0, i/64.0));
+        tcoords.push_back(Vec2d(1.0, i/64.0));
+    }
+
+    for(size_t i = 0; i < points.size()/2-1; ++i)
+    {
+        int polys[] = {3, 2*i, 2*i+1, 2*i+2, 3, 2*i+1, 2*i+2, 2*i+3};
+        polygons.insert(polygons.end(), polys, polys + sizeof(polys)/sizeof(polys[0]));
+    }
+
+    cv::viz::Mesh mesh;
+    mesh.cloud = Mat(points, true).reshape(3, 1);
+    mesh.tcoords = Mat(tcoords, true).reshape(2, 1);
+    mesh.polygons = Mat(polygons, true).reshape(1, 1);
+    mesh.texture = lena;
+
+    Viz3d viz("show_textured_mesh");
+    viz.setBackgroundMeshLab();
+    viz.showWidget("coosys", WCoordinateSystem());
+    viz.showWidget("mesh", WMesh(mesh));
+    viz.setRenderingProperty("mesh", SHADING, SHADING_PHONG);
+    viz.showWidget("text2d", WText("Textured mesh", Point(20, 20), 20, Color::green()));
+    viz.spin();
+}
+
+TEST(Viz, show_polyline)
+{
+    Mat polyline(1, 32, CV_64FC3);
+    for(size_t i = 0; i < polyline.total(); ++i)
+        polyline.at<Vec3d>(i) = Vec3d(i/16.0, cos(i * CV_PI/6), sin(i * CV_PI/6));
+
+    Viz3d viz("show_polyline");
+    viz.showWidget("polyline", WPolyLine(Mat(polyline), Color::apricot()));
+    viz.showWidget("coosys", WCoordinateSystem());
+    viz.showWidget("text2d", WText("Polyline", Point(20, 20), 20, Color::green()));
+    viz.spin();
+}
+
+TEST(Viz, show_sampled_normals)
+{
+    Mesh mesh = Mesh::load(get_dragon_ply_file_path());
+    computeNormals(mesh, mesh.normals);
+
+    Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0));
+
+    Viz3d viz("show_sampled_normals");
+    viz.showWidget("mesh", WMesh(mesh), pose);
+    viz.showWidget("normals", WCloudNormals(mesh.cloud, mesh.normals, 30, 0.1f, Color::green()), pose);
+    viz.setRenderingProperty("normals", LINE_WIDTH, 2.0);
+    viz.showWidget("text2d", WText("Cloud or mesh normals", Point(20, 20), 20, Color::green()));
+    viz.spin();
+}
+
+TEST(Viz, show_trajectories)
+{
+    std::vector<Affine3d> path = generate_test_trajectory<double>(), sub0, sub1, sub2, sub3, sub4, sub5;
+
+    Mat(path).rowRange(0, path.size()/10+1).copyTo(sub0);
+    Mat(path).rowRange(path.size()/10, path.size()/5+1).copyTo(sub1);
+    Mat(path).rowRange(path.size()/5, 11*path.size()/12).copyTo(sub2);
+    Mat(path).rowRange(11*path.size()/12, path.size()).copyTo(sub3);
+    Mat(path).rowRange(3*path.size()/4, 33*path.size()/40).copyTo(sub4);
+    Mat(path).rowRange(33*path.size()/40, 9*path.size()/10).copyTo(sub5);
+    Matx33d K(1024.0, 0.0, 320.0, 0.0, 1024.0, 240.0, 0.0, 0.0, 1.0);
+
+    Viz3d viz("show_trajectories");
+    viz.showWidget("coos", WCoordinateSystem());
+    viz.showWidget("sub0", WTrajectorySpheres(sub0, 0.25, 0.07));
+    viz.showWidget("sub1", WTrajectory(sub1, WTrajectory::PATH, 0.2, Color::brown()));
+    viz.showWidget("sub2", WTrajectory(sub2, WTrajectory::FRAMES, 0.2));
+    viz.showWidget("sub3", WTrajectory(sub3, WTrajectory::BOTH, 0.2, Color::green()));
+    viz.showWidget("sub4", WTrajectoryFrustums(sub4, K, 0.3, Color::yellow()));
+    viz.showWidget("sub5", WTrajectoryFrustums(sub5, Vec2d(0.78, 0.78), 0.15));
+    viz.showWidget("text2d", WText("Different kinds of supported trajectories", Point(20, 20), 20, Color::green()));
+
+    int i = 0;
+    while(!viz.wasStopped())
+    {
+        double a = --i % 360;
+        Vec3d pose(sin(a * CV_PI/180), 0.7, cos(a * CV_PI/180));
+        viz.setViewerPose(makeCameraPose(pose * 7.5, Vec3d(0.0, 0.5, 0.0), Vec3d(0.0, 0.1, 0.0)));
+        viz.spinOnce(20, true);
+    }
+    viz.resetCamera();
+    viz.spin();
+}
+
+TEST(Viz, show_trajectory_reposition)
+{
+    std::vector<Affine3f> path = generate_test_trajectory<float>();
+
+    Viz3d viz("show_trajectory_reposition_to_origin");
+    viz.showWidget("coos", WCoordinateSystem());
+    viz.showWidget("sub3", WTrajectory(Mat(path).rowRange(0, path.size()/3), WTrajectory::BOTH, 0.2, Color::brown()), path.front().inv());
+    viz.showWidget("text2d", WText("Trajectory resposition to origin", Point(20, 20), 20, Color::green()));
+    viz.spin();
+}
+
+TEST(Viz, show_camera_positions)
+{
+    Matx33d K(1024.0, 0.0, 320.0, 0.0, 1024.0, 240.0, 0.0, 0.0, 1.0);
+    Mat lena = imread(Path::combine(cvtest::TS::ptr()->get_data_path(), "lena.png"));
+    Mat gray = make_gray(lena);
+
+    Affine3d poses[2];
+    for(int i = 0; i < 2; ++i)
+    {
+        Vec3d pose = 5 * Vec3d(sin(3.14 + 2.7 + i*60 * CV_PI/180), 0.4 - i*0.3, cos(3.14 + 2.7 + i*60 * CV_PI/180));
+        poses[i] = makeCameraPose(pose, Vec3d(0.0, 0.0, 0.0), Vec3d(0.0, -0.1, 0.0));
+    }
+
+    Viz3d viz("show_camera_positions");
+    viz.showWidget("sphe", WSphere(Point3d(0,0,0), 1.0, 10, Color::orange_red()));
+    viz.showWidget("coos", WCoordinateSystem(1.5));
+    viz.showWidget("pos1", WCameraPosition(0.75), poses[0]);
+    viz.showWidget("pos2", WCameraPosition(Vec2d(0.78, 0.78), lena, 2.2, Color::green()), poses[0]);
+    viz.showWidget("pos3", WCameraPosition(0.75), poses[1]);
+    viz.showWidget("pos4", WCameraPosition(K, gray, 3, Color::indigo()), poses[1]);
+    viz.showWidget("text2d", WText("Camera positions with images", Point(20, 20), 20, Color::green()));
+    viz.spin();
+}
+
+TEST(Viz, show_overlay_image)
+{
+    Mat lena = imread(Path::combine(cvtest::TS::ptr()->get_data_path(), "lena.png"));
+    Mat gray = make_gray(lena);
+
+    Size2d half_lsize = Size2d(lena.cols, lena.rows) * 0.5;
+
+    Viz3d viz("show_overlay_image");
+    viz.setBackgroundMeshLab();
+    Size vsz = viz.getWindowSize();
+
+    viz.showWidget("coos", WCoordinateSystem());
+    viz.showWidget("cube", WCube());
+    viz.showWidget("img1", WImageOverlay(lena, Rect(Point(10, 10), half_lsize)));
+    viz.showWidget("img2", WImageOverlay(gray, Rect(Point(vsz.width-10-lena.cols/2, 10), half_lsize)));
+    viz.showWidget("img3", WImageOverlay(gray, Rect(Point(10, vsz.height-10-lena.rows/2), half_lsize)));
+    viz.showWidget("img5", WImageOverlay(lena, Rect(Point(vsz.width-10-lena.cols/2, vsz.height-10-lena.rows/2), half_lsize)));
+    viz.showWidget("text2d", WText("Overlay images", Point(20, 20), 20, Color::green()));
+
+    int i = 0;
+    while(!viz.wasStopped())
+    {
+        double a = ++i % 360;
+        Vec3d pose(sin(a * CV_PI/180), 0.7, cos(a * CV_PI/180));
+        viz.setViewerPose(makeCameraPose(pose * 3, Vec3d(0.0, 0.5, 0.0), Vec3d(0.0, 0.1, 0.0)));
+        viz.getWidget("img1").cast<WImageOverlay>().setImage(lena * pow(sin(i*10*CV_PI/180) * 0.5 + 0.5, 1.0));
+        viz.spinOnce(1, true);
+    }
+    viz.showWidget("text2d", WText("Overlay images (stopped)", Point(20, 20), 20, Color::green()));
+    viz.spin();
+}
+
+
+TEST(Viz, show_image_method)
+{
+    Mat lena = imread(Path::combine(cvtest::TS::ptr()->get_data_path(), "lena.png"));
+
+    Viz3d viz("show_image_method");
+    viz.showImage(lena);
+    viz.spinOnce(1500, true);
+    viz.showImage(lena, lena.size());
+    viz.spinOnce(1500, true);
+
+    cv::viz::imshow("show_image_method", make_gray(lena)).spin();
+}
+
+TEST(Viz, show_image_3d)
+{
+    Mat lena = imread(Path::combine(cvtest::TS::ptr()->get_data_path(), "lena.png"));
+    Mat gray = make_gray(lena);
+
+    Viz3d viz("show_image_3d");
+    viz.setBackgroundMeshLab();
+    viz.showWidget("coos", WCoordinateSystem());
+    viz.showWidget("cube", WCube());
+    viz.showWidget("arr0", WArrow(Vec3d(0.5, 0.0, 0.0), Vec3d(1.5, 0.0, 0.0), 0.009, Color::raspberry()));
+    viz.showWidget("img0", WImage3D(lena, Size2d(1.0, 1.0)), Affine3d(Vec3d(0.0, CV_PI/2, 0.0), Vec3d(.5, 0.0, 0.0)));
+    viz.showWidget("arr1", WArrow(Vec3d(-0.5, -0.5, 0.0), Vec3d(0.2, 0.2, 0.0), 0.009, Color::raspberry()));
+    viz.showWidget("img1", WImage3D(gray, Size2d(1.0, 1.0), Vec3d(-0.5, -0.5, 0.0), Vec3d(1.0, 1.0, 0.0), Vec3d(0.0, 1.0, 0.0)));
+
+    viz.showWidget("arr3", WArrow(Vec3d::all(-0.5), Vec3d::all(0.5), 0.009, Color::raspberry()));
+
+    viz.showWidget("text2d", WText("Images in 3D", Point(20, 20), 20, Color::green()));
+
+    int i = 0;
+    while(!viz.wasStopped())
+    {
+        viz.getWidget("img0").cast<WImage3D>().setImage(lena * pow(sin(i++*7.5*CV_PI/180) * 0.5 + 0.5, 1.0));
+        viz.spinOnce(1, true);
+    }
+    viz.showWidget("text2d", WText("Images in 3D (stopped)", Point(20, 20), 20, Color::green()));
+    viz.spin();
+}
+
+TEST(Viz, show_simple_widgets)
+{
+    Viz3d viz("show_simple_widgets");
+    viz.setBackgroundMeshLab();
+
+    viz.showWidget("coos", WCoordinateSystem());
+    viz.showWidget("cube", WCube());
+    viz.showWidget("cub0", WCube(Vec3d::all(-1.0), Vec3d::all(-0.5), false, Color::indigo()));
+    viz.showWidget("arro", WArrow(Vec3d::all(-0.5), Vec3d::all(0.5), 0.009, Color::raspberry()));
+    viz.showWidget("cir1", WCircle(0.5, 0.01, Color::bluberry()));
+    viz.showWidget("cir2", WCircle(0.5, Point3d(0.5, 0.0, 0.0), Vec3d(1.0, 0.0, 0.0), 0.01, Color::apricot()));
+
+    viz.showWidget("cyl0", WCylinder(Vec3d(-0.5, 0.5, -0.5), Vec3d(0.5, 0.5, -0.5), 0.125, 30, Color::brown()));
+    viz.showWidget("con0", WCone(0.25, 0.125, 6, Color::azure()));
+    viz.showWidget("con1", WCone(0.125, Point3d(0.5, -0.5, 0.5), Point3d(0.5, -1.0, 0.5), 6, Color::turquoise()));
+
+    viz.showWidget("text2d", WText("Different simple widgets", Point(20, 20), 20, Color::green()));
+    viz.showWidget("text3d", WText3D("Simple 3D text", Point3d( 0.5,  0.5, 0.5), 0.125, false, Color::green()));
+
+    viz.showWidget("plane1", WPlane(Size2d(0.25, 0.75)));
+    viz.showWidget("plane2", WPlane(Vec3d(0.5, -0.5, -0.5), Vec3d(0.0, 1.0, 1.0), Vec3d(1.0, 1.0, 0.0), Size2d(1.0, 0.5), Color::gold()));
+
+    viz.showWidget("grid1", WGrid(Vec2i(7,7), Vec2d::all(0.75), Color::gray()), Affine3d().translate(Vec3d(0.0, 0.0, -1.0)));
+
+    viz.spin();
+    viz.getWidget("text2d").cast<WText>().setText("Different simple widgets (updated)");
+    viz.getWidget("text3d").cast<WText3D>().setText("Updated text 3D");
+    viz.spin();
+}
+
+TEST(Viz, show_follower)
+{
+    Viz3d viz("show_follower");
+
+    viz.showWidget("coos", WCoordinateSystem());
+    viz.showWidget("cube", WCube());
+    viz.showWidget("t3d_2", WText3D("Simple 3D follower", Point3d(-0.5, -0.5, 0.5), 0.125, true,  Color::green()));
+    viz.showWidget("text2d", WText("Follower: text always facing camera", Point(20, 20), 20, Color::green()));
+    viz.setBackgroundMeshLab();
+    viz.spin();
+    viz.getWidget("t3d_2").cast<WText3D>().setText("Updated follower 3D");
+    viz.spin();
+}
diff --git a/platforms/android/android.toolchain.cmake b/platforms/android/android.toolchain.cmake
index 68b256fbd0..457164a1ee 100644
--- a/platforms/android/android.toolchain.cmake
+++ b/platforms/android/android.toolchain.cmake
@@ -1,5 +1,5 @@
 # Copyright (c) 2010-2011, Ethan Rublee
-# Copyright (c) 2011-2013, Andrey Kamaev
+# Copyright (c) 2011-2014, Andrey Kamaev
 # All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
@@ -12,9 +12,9 @@
 #     this list of conditions and the following disclaimer in the documentation
 #     and/or other materials provided with the distribution.
 #
-# 3.  The name of the copyright holders may be used to endorse or promote
-#     products derived from this software without specific prior written
-#     permission.
+# 3.  Neither the name of the copyright holder nor the names of its
+#     contributors may be used to endorse or promote products derived from this
+#     software without specific prior written permission.
 #
 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
@@ -29,12 +29,12 @@
 # POSSIBILITY OF SUCH DAMAGE.
 
 # ------------------------------------------------------------------------------
-#  Android CMake toolchain file, for use with the Android NDK r5-r8
+#  Android CMake toolchain file, for use with the Android NDK r5-r9
 #  Requires cmake 2.6.3 or newer (2.8.5 or newer is recommended).
 #  See home page: https://github.com/taka-no-me/android-cmake
 #
 #  The file is mantained by the OpenCV project. The latest version can be get at
-#  https://github.com/Itseez/opencv/tree/master/platforms/android/android.toolchain.cmake
+#  http://code.opencv.org/projects/opencv/repository/revisions/master/changes/android/android.toolchain.cmake
 #
 #  Usage Linux:
 #   $ export ANDROID_NDK=/absolute/path/to/the/android-ndk
@@ -87,8 +87,7 @@
 #        "armeabi-v6 with VFP" - tuned for ARMv6 processors having VFP.
 #        "x86" - matches to the NDK ABI with the same name.
 #            See ${ANDROID_NDK}/docs/CPU-ARCH-ABIS.html for the documentation.
-#        "mips" - matches to the NDK ABI with the same name
-#            (It is not tested on real devices by the authos of this toolchain)
+#        "mips" - matches to the NDK ABI with the same name.
 #            See ${ANDROID_NDK}/docs/CPU-ARCH-ABIS.html for the documentation.
 #
 #    ANDROID_NATIVE_API_LEVEL=android-8 - level of Android API compile for.
@@ -292,6 +291,16 @@
 #   - April 2013
 #     [+] support non-release NDK layouts (from Linaro git and Android git)
 #     [~] automatically detect if explicit link to crtbegin_*.o is needed
+#   - June 2013
+#     [~] fixed stl include path for standalone toolchain made by NDK >= r8c
+#   - July 2013
+#     [+] updated for NDK r9
+#   - November 2013
+#     [+] updated for NDK r9b
+#   - December 2013
+#     [+] updated for NDK r9c
+#   - January 2014
+#     [~] fix copying of shared STL
 # ------------------------------------------------------------------------------
 
 cmake_minimum_required( VERSION 2.6.3 )
@@ -318,7 +327,7 @@ set( CMAKE_SYSTEM_VERSION 1 )
 # rpath makes low sence for Android
 set( CMAKE_SKIP_RPATH TRUE CACHE BOOL "If set, runtime paths are not added when using shared libraries." )
 
-set( ANDROID_SUPPORTED_NDK_VERSIONS ${ANDROID_EXTRA_NDK_VERSIONS} -r9b -r9 -r8e -r8d -r8c -r8b -r8 -r7c -r7b -r7 -r6b -r6 -r5c -r5b -r5 "" )
+set( ANDROID_SUPPORTED_NDK_VERSIONS ${ANDROID_EXTRA_NDK_VERSIONS} -r9c -r9b -r9 -r8e -r8d -r8c -r8b -r8 -r7c -r7b -r7 -r6b -r6 -r5c -r5b -r5 "" )
 if(NOT DEFINED ANDROID_NDK_SEARCH_PATHS)
  if( CMAKE_HOST_WIN32 )
   file( TO_CMAKE_PATH "$ENV{PROGRAMFILES}" ANDROID_NDK_SEARCH_PATHS )
@@ -464,7 +473,7 @@ endif()
 
 
 # detect current host platform
-if( NOT DEFINED ANDROID_NDK_HOST_X64 AND CMAKE_HOST_SYSTEM_PROCESSOR MATCHES "amd64|x86_64|AMD64")
+if( NOT DEFINED ANDROID_NDK_HOST_X64 AND (CMAKE_HOST_SYSTEM_PROCESSOR MATCHES "amd64|x86_64|AMD64" OR CMAKE_HOST_APPLE) )
  set( ANDROID_NDK_HOST_X64 1 CACHE BOOL "Try to use 64-bit compiler toolchain" )
  mark_as_advanced( ANDROID_NDK_HOST_X64 )
 endif()
@@ -484,9 +493,7 @@ else()
  message( FATAL_ERROR "Cross-compilation on your platform is not supported by this cmake toolchain" )
 endif()
 
-# CMAKE_HOST_SYSTEM_PROCESSOR on MacOS X always says i386 on Intel platform
-# So we do not trust ANDROID_NDK_HOST_X64 on Apple hosts
-if( NOT ANDROID_NDK_HOST_X64 AND NOT CMAKE_HOST_APPLE)
+if( NOT ANDROID_NDK_HOST_X64 )
  set( ANDROID_NDK_HOST_SYSTEM_NAME ${ANDROID_NDK_HOST_SYSTEM_NAME2} )
 endif()
 
@@ -634,30 +641,27 @@ endif()
 
 macro( __GLOB_NDK_TOOLCHAINS __availableToolchainsVar __availableToolchainsLst __toolchain_subpath )
  foreach( __toolchain ${${__availableToolchainsLst}} )
-  # Skip renderscript folder. It's not C++ toolchain
-  if (NOT ${__toolchain} STREQUAL "renderscript")
-   if( "${__toolchain}" MATCHES "-clang3[.][0-9]$" AND NOT EXISTS "${ANDROID_NDK_TOOLCHAINS_PATH}/${__toolchain}${__toolchain_subpath}" )
-     string( REGEX REPLACE "-clang3[.][0-9]$" "-4.6" __gcc_toolchain "${__toolchain}" )
-   else()
-     set( __gcc_toolchain "${__toolchain}" )
-   endif()
-   __DETECT_TOOLCHAIN_MACHINE_NAME( __machine "${ANDROID_NDK_TOOLCHAINS_PATH}/${__gcc_toolchain}${__toolchain_subpath}" )
-   if( __machine )
-    string( REGEX MATCH "[0-9]+[.][0-9]+([.][0-9x]+)?$" __version "${__gcc_toolchain}" )
-    if( __machine MATCHES i686 )
-     set( __arch "x86" )
-    elseif( __machine MATCHES arm )
-     set( __arch "arm" )
-    elseif( __machine MATCHES mipsel )
-     set( __arch "mipsel" )
-    endif()
-    list( APPEND __availableToolchainMachines "${__machine}" )
-    list( APPEND __availableToolchainArchs "${__arch}" )
-    list( APPEND __availableToolchainCompilerVersions "${__version}" )
-    list( APPEND ${__availableToolchainsVar} "${__toolchain}" )
+  if( "${__toolchain}" MATCHES "-clang3[.][0-9]$" AND NOT EXISTS "${ANDROID_NDK_TOOLCHAINS_PATH}/${__toolchain}${__toolchain_subpath}" )
+   string( REGEX REPLACE "-clang3[.][0-9]$" "-4.6" __gcc_toolchain "${__toolchain}" )
+  else()
+   set( __gcc_toolchain "${__toolchain}" )
+  endif()
+  __DETECT_TOOLCHAIN_MACHINE_NAME( __machine "${ANDROID_NDK_TOOLCHAINS_PATH}/${__gcc_toolchain}${__toolchain_subpath}" )
+  if( __machine )
+   string( REGEX MATCH "[0-9]+[.][0-9]+([.][0-9x]+)?$" __version "${__gcc_toolchain}" )
+   if( __machine MATCHES i686 )
+    set( __arch "x86" )
+   elseif( __machine MATCHES arm )
+    set( __arch "arm" )
+   elseif( __machine MATCHES mipsel )
+    set( __arch "mipsel" )
    endif()
-   unset( __gcc_toolchain )
+   list( APPEND __availableToolchainMachines "${__machine}" )
+   list( APPEND __availableToolchainArchs "${__arch}" )
+   list( APPEND __availableToolchainCompilerVersions "${__version}" )
+   list( APPEND ${__availableToolchainsVar} "${__toolchain}" )
   endif()
+  unset( __gcc_toolchain )
  endforeach()
 endmacro()
 
@@ -687,6 +691,7 @@ if( BUILD_WITH_ANDROID_NDK )
   endif()
   __LIST_FILTER( __availableToolchainsLst "^[.]" )
   __LIST_FILTER( __availableToolchainsLst "llvm" )
+  __LIST_FILTER( __availableToolchainsLst "renderscript" )
   __GLOB_NDK_TOOLCHAINS( __availableToolchains __availableToolchainsLst "${ANDROID_NDK_TOOLCHAINS_SUBPATH}" )
   if( NOT __availableToolchains AND NOT ANDROID_NDK_TOOLCHAINS_SUBPATH STREQUAL ANDROID_NDK_TOOLCHAINS_SUBPATH2 )
    __GLOB_NDK_TOOLCHAINS( __availableToolchains __availableToolchainsLst "${ANDROID_NDK_TOOLCHAINS_SUBPATH2}" )
@@ -975,7 +980,11 @@ if( BUILD_WITH_STANDALONE_TOOLCHAIN )
  set( ANDROID_SYSROOT "${ANDROID_STANDALONE_TOOLCHAIN}/sysroot" )
 
  if( NOT ANDROID_STL STREQUAL "none" )
-  set( ANDROID_STL_INCLUDE_DIRS "${ANDROID_STANDALONE_TOOLCHAIN}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/include/c++/${ANDROID_COMPILER_VERSION}" )
+  set( ANDROID_STL_INCLUDE_DIRS "${ANDROID_STANDALONE_TOOLCHAIN}/include/c++/${ANDROID_COMPILER_VERSION}" )
+  if( NOT EXISTS "${ANDROID_STL_INCLUDE_DIRS}" )
+   # old location ( pre r8c )
+   set( ANDROID_STL_INCLUDE_DIRS "${ANDROID_STANDALONE_TOOLCHAIN}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/include/c++/${ANDROID_COMPILER_VERSION}" )
+  endif()
   if( ARMEABI_V7A AND EXISTS "${ANDROID_STL_INCLUDE_DIRS}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/${CMAKE_SYSTEM_PROCESSOR}/bits" )
    list( APPEND ANDROID_STL_INCLUDE_DIRS "${ANDROID_STL_INCLUDE_DIRS}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/${CMAKE_SYSTEM_PROCESSOR}" )
   elseif( ARMEABI AND NOT ANDROID_FORCE_ARM_BUILD AND EXISTS "${ANDROID_STL_INCLUDE_DIRS}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/thumb/bits" )
@@ -1130,15 +1139,7 @@ endif()
 # case of shared STL linkage
 if( ANDROID_STL MATCHES "shared" AND DEFINED __libstl )
  string( REPLACE "_static.a" "_shared.so" __libstl "${__libstl}" )
- if( NOT _CMAKE_IN_TRY_COMPILE AND __libstl MATCHES "[.]so$" )
-  get_filename_component( __libstlname "${__libstl}" NAME )
-  execute_process( COMMAND "${CMAKE_COMMAND}" -E copy_if_different "${__libstl}" "${LIBRARY_OUTPUT_PATH}/${__libstlname}" RESULT_VARIABLE __fileCopyProcess )
-  if( NOT __fileCopyProcess EQUAL 0 OR NOT EXISTS "${LIBRARY_OUTPUT_PATH}/${__libstlname}")
-   message( SEND_ERROR "Failed copying of ${__libstl} to the ${LIBRARY_OUTPUT_PATH}/${__libstlname}" )
-  endif()
-  unset( __fileCopyProcess )
-  unset( __libstlname )
- endif()
+ # TODO: check if .so file exists before the renaming
 endif()
 
 
@@ -1503,7 +1504,8 @@ endif()
 
 # global includes and link directories
 include_directories( SYSTEM "${ANDROID_SYSROOT}/usr/include" ${ANDROID_STL_INCLUDE_DIRS} )
-link_directories( "${CMAKE_INSTALL_PREFIX}/libs/${ANDROID_NDK_ABI_NAME}" )
+get_filename_component(__android_install_path "${CMAKE_INSTALL_PREFIX}/libs/${ANDROID_NDK_ABI_NAME}" ABSOLUTE) # avoid CMP0015 policy warning
+link_directories( "${__android_install_path}" )
 
 # detect if need link crtbegin_so.o explicitly
 if( NOT DEFINED ANDROID_EXPLICIT_CRT_LINK )
@@ -1555,6 +1557,18 @@ if(NOT _CMAKE_IN_TRY_COMPILE)
  set( LIBRARY_OUTPUT_PATH "${LIBRARY_OUTPUT_PATH_ROOT}/libs/${ANDROID_NDK_ABI_NAME}" CACHE PATH "path for android libs" )
 endif()
 
+# copy shaed stl library to build directory
+if( NOT _CMAKE_IN_TRY_COMPILE AND __libstl MATCHES "[.]so$" )
+ get_filename_component( __libstlname "${__libstl}" NAME )
+ execute_process( COMMAND "${CMAKE_COMMAND}" -E copy_if_different "${__libstl}" "${LIBRARY_OUTPUT_PATH}/${__libstlname}" RESULT_VARIABLE __fileCopyProcess )
+ if( NOT __fileCopyProcess EQUAL 0 OR NOT EXISTS "${LIBRARY_OUTPUT_PATH}/${__libstlname}")
+  message( SEND_ERROR "Failed copying of ${__libstl} to the ${LIBRARY_OUTPUT_PATH}/${__libstlname}" )
+ endif()
+ unset( __fileCopyProcess )
+ unset( __libstlname )
+endif()
+
+
 # set these global flags for cmake client scripts to change behavior
 set( ANDROID True )
 set( BUILD_ANDROID True )
@@ -1663,6 +1677,19 @@ if( NOT PROJECT_NAME STREQUAL "CMAKE_TRY_COMPILE" )
 endif()
 
 
+# force cmake to produce / instead of \ in build commands for Ninja generator
+if( CMAKE_GENERATOR MATCHES "Ninja" AND CMAKE_HOST_WIN32 )
+ # it is a bad hack after all
+ # CMake generates Ninja makefiles with UNIX paths only if it thinks that we are going to build with MinGW
+ set( CMAKE_COMPILER_IS_MINGW TRUE ) # tell CMake that we are MinGW
+ set( CMAKE_CROSSCOMPILING TRUE )    # stop recursion
+ enable_language( C )
+ enable_language( CXX )
+ # unset( CMAKE_COMPILER_IS_MINGW ) # can't unset because CMake does not convert back-slashes in response files without it
+ unset( MINGW )
+endif()
+
+
 # set some obsolete variables for backward compatibility
 set( ANDROID_SET_OBSOLETE_VARIABLES ON CACHE BOOL "Define obsolete Andrid-specific cmake variables" )
 mark_as_advanced( ANDROID_SET_OBSOLETE_VARIABLES )
@@ -1717,7 +1744,7 @@ endif()
 #   BUILD_WITH_STANDALONE_TOOLCHAIN : TRUE if standalone toolchain is used
 #   ANDROID_NDK_HOST_SYSTEM_NAME : "windows", "linux-x86" or "darwin-x86" depending on host platform
 #   ANDROID_NDK_ABI_NAME : "armeabi", "armeabi-v7a", "x86" or "mips" depending on ANDROID_ABI
-#   ANDROID_NDK_RELEASE : one of r5, r5b, r5c, r6, r6b, r7, r7b, r7c, r8, r8b, r8c, r8d, r8e; set only for NDK
+#   ANDROID_NDK_RELEASE : one of r5, r5b, r5c, r6, r6b, r7, r7b, r7c, r8, r8b, r8c, r8d, r8e, r9, r9b, r9c; set only for NDK
 #   ANDROID_ARCH_NAME : "arm" or "x86" or "mips" depending on ANDROID_ABI
 #   ANDROID_SYSROOT : path to the compiler sysroot
 #   TOOL_OS_SUFFIX : "" or ".exe" depending on host platform
diff --git a/platforms/android/service/engine/jni/Tests/HardwareDetectionTest.cpp b/platforms/android/service/engine/jni/Tests/HardwareDetectionTest.cpp
index 83dd9c27e1..8e7dfab006 100644
--- a/platforms/android/service/engine/jni/Tests/HardwareDetectionTest.cpp
+++ b/platforms/android/service/engine/jni/Tests/HardwareDetectionTest.cpp
@@ -55,7 +55,7 @@ TEST(Parse, ParseEmptyString)
     EXPECT_FALSE(ParseString(a, key, value));
 }
 
-TEST(Parse, ParseStringWithoutSeporator)
+TEST(Parse, ParseStringWithoutSeparator)
 {
     string a = "qqqwww";
     string key;
diff --git a/samples/android/native-activity/src/org/opencv/samples/NativeActivity/CvNativeActivity.java b/samples/android/native-activity/src/org/opencv/samples/NativeActivity/CvNativeActivity.java
index 04da9a9496..b9db22de1f 100644
--- a/samples/android/native-activity/src/org/opencv/samples/NativeActivity/CvNativeActivity.java
+++ b/samples/android/native-activity/src/org/opencv/samples/NativeActivity/CvNativeActivity.java
@@ -21,6 +21,7 @@ public class CvNativeActivity extends Activity {
                     System.loadLibrary("native_activity");
                     Intent intent = new Intent(CvNativeActivity.this, android.app.NativeActivity.class);
                     CvNativeActivity.this.startActivity(intent);
+                    CvNativeActivity.this.finish();
                 } break;
                 default:
                 {
@@ -34,7 +35,7 @@ public class CvNativeActivity extends Activity {
         Log.i(TAG, "Instantiated new " + this.getClass());
     }
 
-   @Override
+    @Override
     public void onResume()
     {
         super.onResume();
diff --git a/samples/android/tutorial-4-cuda/CMakeLists.txt b/samples/android/tutorial-4-cuda/CMakeLists.txt
index a011b33492..da9fe9871d 100644
--- a/samples/android/tutorial-4-cuda/CMakeLists.txt
+++ b/samples/android/tutorial-4-cuda/CMakeLists.txt
@@ -1,15 +1,16 @@
 set(sample example-tutorial-4-cuda)
 
-ocv_check_dependencies(opencv_core opencv_java opencv_gpu)
+ocv_check_dependencies(opencv_core opencv_features2d opencv_java opencv_gpu)
 
 if (OCV_DEPENDENCIES_FOUND)
   if(BUILD_FAT_JAVA_LIB)
     set(native_deps opencv_java opencv_gpu)
   else()
-    set(native_deps opencv_gpu)
+    set(native_deps opencv_core opencv_features2d opencv_java opencv_gpu)
   endif()
 
-  add_android_project(${sample} "${CMAKE_CURRENT_SOURCE_DIR}" LIBRARY_DEPS ${OpenCV_BINARY_DIR} SDK_TARGET 11 ${ANDROID_SDK_TARGET} NATIVE_DEPS ${native_deps})
+  add_android_project(${sample} "${CMAKE_CURRENT_SOURCE_DIR}" LIBRARY_DEPS ${OpenCV_BINARY_DIR} SDK_TARGET 11 ${ANDROID_SDK_TARGET} NATIVE_DEPS ${native_deps} EMBED_CUDA ON FORCE_EMBED_OPENCV ON)
+
   if(TARGET ${sample})
     add_dependencies(opencv_android_examples ${sample})
   endif()
diff --git a/samples/android/tutorial-4-cuda/jni/Android.mk b/samples/android/tutorial-4-cuda/jni/Android.mk
index 3d709dff3b..e14b1990f2 100644
--- a/samples/android/tutorial-4-cuda/jni/Android.mk
+++ b/samples/android/tutorial-4-cuda/jni/Android.mk
@@ -2,6 +2,8 @@ LOCAL_PATH := $(call my-dir)
 
 include $(CLEAR_VARS)
 
+INSTALL_CUDA_LIBRARIES:=on
+OPENCV_INSTALL_MODULES:=on
 CUDA_TOOLKIT_DIR=$(CUDA_TOOLKIT_ROOT)
 include ../../sdk/native/jni/OpenCV.mk
 
diff --git a/samples/android/tutorial-4-cuda/src/org/opencv/samples/tutorial4/Tutorial4Activity.java b/samples/android/tutorial-4-cuda/src/org/opencv/samples/tutorial4/Tutorial4Activity.java
index c1753b68cc..6a8cb5ec04 100644
--- a/samples/android/tutorial-4-cuda/src/org/opencv/samples/tutorial4/Tutorial4Activity.java
+++ b/samples/android/tutorial-4-cuda/src/org/opencv/samples/tutorial4/Tutorial4Activity.java
@@ -49,29 +49,6 @@ public class Tutorial4Activity extends Activity implements CvCameraViewListener2
                 {
                     Log.i(TAG, "OpenCV loaded successfully");
 
-                    // Check CUDA support
-                    if (Gpu.getCudaEnabledDeviceCount() <= 0)
-                    {
-                        Log.e(TAG, "No CUDA capable device found!");
-                        AlertDialog InitFailedDialog = new AlertDialog.Builder(Tutorial4Activity.this).create();
-                        InitFailedDialog.setTitle("OpenCV CUDA error");
-                        InitFailedDialog.setMessage("CUDA compatible device was not found!");
-                        InitFailedDialog.setCancelable(false); // This blocks the 'BACK' button
-                        InitFailedDialog.setButton(AlertDialog.BUTTON_POSITIVE, "OK", new OnClickListener() {
-
-                            public void onClick(DialogInterface dialog, int which) {
-                                Tutorial4Activity.this.finish();
-                            }
-                        });
-                        InitFailedDialog.show();
-                    }
-                    else
-                    {
-                        // Load native library after(!) OpenCV initialization
-                        Log.i(TAG, "Found CUDA capable device!");
-                        System.loadLibrary("cuda_sample");
-                        mOpenCvCameraView.enableView();
-                    }
                 } break;
                 default:
                 {
@@ -120,7 +97,32 @@ public class Tutorial4Activity extends Activity implements CvCameraViewListener2
     public void onResume()
     {
         super.onResume();
-        OpenCVLoader.initAsync(OpenCVLoader.OPENCV_VERSION_2_4_8, this, mLoaderCallback);
+        if (OpenCVLoader.initDebug(true))
+        {
+            // Check CUDA support
+            if (Gpu.getCudaEnabledDeviceCount() <= 0)
+            {
+                Log.e(TAG, "No CUDA capable device found!");
+                AlertDialog InitFailedDialog = new AlertDialog.Builder(Tutorial4Activity.this).create();
+                InitFailedDialog.setTitle("OpenCV CUDA error");
+                InitFailedDialog.setMessage("CUDA compatible device was not found!");
+                InitFailedDialog.setCancelable(false); // This blocks the 'BACK' button
+                InitFailedDialog.setButton(AlertDialog.BUTTON_POSITIVE, "OK", new OnClickListener() {
+                    public void onClick(DialogInterface dialog, int which) {
+                        Tutorial4Activity.this.finish();
+                    }
+                        });
+                InitFailedDialog.show();
+            }
+            else
+            {
+                // Load native library after(!) OpenCV initialization
+                Log.i(TAG, "Found CUDA capable device!");
+                System.loadLibrary("cuda_sample");
+                mOpenCvCameraView.enableView();
+            }
+
+        }
     }
 
     public void onDestroy() {
diff --git a/samples/c/CMakeLists.txt b/samples/c/CMakeLists.txt
index ab6e15dbf2..6d374e7443 100644
--- a/samples/c/CMakeLists.txt
+++ b/samples/c/CMakeLists.txt
@@ -54,6 +54,6 @@ endif()
 if (INSTALL_C_EXAMPLES AND NOT WIN32)
   file(GLOB C_SAMPLES *.c *.cpp *.jpg *.png *.data makefile.* build_all.sh *.dsp *.cmd )
   install(FILES ${C_SAMPLES}
-          DESTINATION share/OpenCV/samples/c
+          DESTINATION ${OPENCV_SAMPLES_SRC_INSTALL_PATH}/c
           PERMISSIONS OWNER_READ GROUP_READ WORLD_READ COMPONENT samples)
 endif ()
diff --git a/samples/cpp/CMakeLists.txt b/samples/cpp/CMakeLists.txt
index e0842d9e4a..1f55ed90f3 100644
--- a/samples/cpp/CMakeLists.txt
+++ b/samples/cpp/CMakeLists.txt
@@ -82,6 +82,8 @@ if(BUILD_EXAMPLES AND OCV_DEPENDENCIES_FOUND)
     ocv_list_filterout(cpp_samples "/gpu/")
   endif()
 
+  ocv_list_filterout(cpp_samples "viz")
+
   foreach(sample_filename ${cpp_samples})
     get_filename_component(sample ${sample_filename} NAME_WE)
     OPENCV_DEFINE_CPP_EXAMPLE(${sample}  ${sample_filename})
@@ -91,6 +93,6 @@ endif()
 if (INSTALL_C_EXAMPLES AND NOT WIN32)
   file(GLOB C_SAMPLES *.c *.cpp *.jpg *.png *.data makefile.* build_all.sh *.dsp *.cmd )
   install(FILES ${C_SAMPLES}
-          DESTINATION share/OpenCV/samples/cpp
+          DESTINATION ${OPENCV_SAMPLES_SRC_INSTALL_PATH}/cpp
           PERMISSIONS OWNER_READ GROUP_READ WORLD_READ COMPONENT samples)
 endif()
diff --git a/samples/cpp/Qt_sample/CMakeLists.txt b/samples/cpp/Qt_sample/CMakeLists.txt
index e831f752f6..f465947dbc 100644
--- a/samples/cpp/Qt_sample/CMakeLists.txt
+++ b/samples/cpp/Qt_sample/CMakeLists.txt
@@ -7,6 +7,6 @@ FIND_PACKAGE( OpenCV REQUIRED )
 find_package (OpenGL REQUIRED)
 
 
-ADD_EXECUTABLE(OpenGL_Qt_Binding main.cpp)
+ADD_EXECUTABLE(OpenGL_Qt_Binding qt_opengl.cpp)
 TARGET_LINK_LIBRARIES(OpenGL_Qt_Binding ${OpenCV_LIBS} ${OPENGL_LIBRARIES} )
 configure_file(${CMAKE_CURRENT_SOURCE_DIR}/cube4.avi ${CMAKE_CURRENT_BINARY_DIR}/cube4.avi COPYONLY)
diff --git a/samples/cpp/Qt_sample/main.cpp b/samples/cpp/Qt_sample/main.cpp
deleted file mode 100644
index 6969544a0c..0000000000
--- a/samples/cpp/Qt_sample/main.cpp
+++ /dev/null
@@ -1,275 +0,0 @@
-//Yannick Verdie 2010
-
-//--- Please read help() below: ---
-
-#include <iostream>
-#include <vector>
-
-#include <opencv2/calib3d/calib3d.hpp>
-#include <opencv2/core/core.hpp>
-#include <opencv2/highgui/highgui.hpp>
-#include <opencv2/imgproc/imgproc.hpp>
-#include <opencv2/legacy/compat.hpp>
-
-#if defined WIN32 || defined _WIN32 || defined WINCE
-    #include <windows.h>
-    #undef small
-    #undef min
-    #undef max
-    #undef abs
-#endif
-
-#ifdef __APPLE__
-    #include <OpenGL/gl.h>
-#else
-    #include <GL/gl.h>
-#endif
-
-using namespace std;
-using namespace cv;
-
-static void help()
-{
-    cout << "\nThis demo demonstrates the use of the Qt enhanced version of the highgui GUI interface\n"
-            "  and dang if it doesn't throw in the use of of the POSIT 3D tracking algorithm too\n"
-            "It works off of the video: cube4.avi\n"
-            "Using OpenCV version %s\n" << CV_VERSION << "\n\n"
-" 1). This demo is mainly based on work from Javier Barandiaran Martirena\n"
-"     See this page http://code.opencv.org/projects/opencv/wiki/Posit.\n"
-" 2). This is a demo to illustrate how to use **OpenGL Callback**.\n"
-" 3). You need Qt binding to compile this sample with OpenGL support enabled.\n"
-" 4). The features' detection is very basic and could highly be improved \n"
-"     (basic thresholding tuned for the specific video) but 2).\n"
-" 5) THANKS TO Google Summer of Code 2010 for supporting this work!\n" << endl;
-}
-
-#define FOCAL_LENGTH 600
-#define CUBE_SIZE 10
-
-static void renderCube(float size)
-{
-    glBegin(GL_QUADS);
-    // Front Face
-    glNormal3f( 0.0f, 0.0f, 1.0f);
-    glVertex3f( 0.0f,  0.0f,  0.0f);
-    glVertex3f( size,  0.0f,  0.0f);
-    glVertex3f( size,  size,  0.0f);
-    glVertex3f( 0.0f,  size,  0.0f);
-    // Back Face
-    glNormal3f( 0.0f, 0.0f,-1.0f);
-    glVertex3f( 0.0f,  0.0f, size);
-    glVertex3f( 0.0f,  size, size);
-    glVertex3f( size,  size, size);
-    glVertex3f( size,  0.0f, size);
-    // Top Face
-    glNormal3f( 0.0f, 1.0f, 0.0f);
-    glVertex3f( 0.0f,  size,  0.0f);
-    glVertex3f( size,  size,  0.0f);
-    glVertex3f( size,  size, size);
-    glVertex3f( 0.0f,  size, size);
-    // Bottom Face
-    glNormal3f( 0.0f,-1.0f, 0.0f);
-    glVertex3f( 0.0f,  0.0f,  0.0f);
-    glVertex3f( 0.0f,  0.0f, size);
-    glVertex3f( size,  0.0f, size);
-    glVertex3f( size,  0.0f,  0.0f);
-    // Right face
-    glNormal3f( 1.0f, 0.0f, 0.0f);
-    glVertex3f( size,  0.0f, 0.0f);
-    glVertex3f( size,  0.0f, size);
-    glVertex3f( size,  size, size);
-    glVertex3f( size,  size, 0.0f);
-    // Left Face
-    glNormal3f(-1.0f, 0.0f, 0.0f);
-    glVertex3f( 0.0f,  0.0f, 0.0f);
-    glVertex3f( 0.0f,  size, 0.0f);
-    glVertex3f( 0.0f,  size, size);
-    glVertex3f( 0.0f,  0.0f, size);
-    glEnd();
-}
-
-
-static void on_opengl(void* param)
-{
-    //Draw the object with the estimated pose
-    glLoadIdentity();
-    glScalef( 1.0f, 1.0f, -1.0f);
-    glMultMatrixf( (float*)param );
-    glEnable( GL_LIGHTING );
-    glEnable( GL_LIGHT0 );
-    glEnable( GL_BLEND );
-    glBlendFunc(GL_SRC_ALPHA, GL_ONE);
-    renderCube( CUBE_SIZE );
-    glDisable(GL_BLEND);
-    glDisable( GL_LIGHTING );
-}
-
-static void initPOSIT(std::vector<CvPoint3D32f> *modelPoints)
-{
-    //Create the model pointss
-    modelPoints->push_back(cvPoint3D32f(0.0f, 0.0f, 0.0f)); //The first must be (0,0,0)
-    modelPoints->push_back(cvPoint3D32f(0.0f, 0.0f, CUBE_SIZE));
-    modelPoints->push_back(cvPoint3D32f(CUBE_SIZE, 0.0f, 0.0f));
-    modelPoints->push_back(cvPoint3D32f(0.0f, CUBE_SIZE, 0.0f));
-}
-
-static void foundCorners(vector<CvPoint2D32f> *srcImagePoints, const Mat& source, Mat& grayImage)
-{
-    cvtColor(source, grayImage, COLOR_RGB2GRAY);
-    GaussianBlur(grayImage, grayImage, Size(11,11), 0, 0);
-    normalize(grayImage, grayImage, 0, 255, NORM_MINMAX);
-    threshold(grayImage, grayImage, 26, 255, THRESH_BINARY_INV); //25
-
-    Mat MgrayImage = grayImage;
-    //For debug
-    //MgrayImage = MgrayImage.clone();//deep copy
-    vector<vector<Point> > contours;
-    vector<Vec4i> hierarchy;
-    findContours(MgrayImage, contours, hierarchy, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);
-
-    Point p;
-    vector<CvPoint2D32f> srcImagePoints_temp(4,cvPoint2D32f(0,0));
-
-    if (contours.size() == srcImagePoints_temp.size())
-    {
-
-        for(size_t i = 0 ; i<contours.size(); i++ )
-        {
-
-            p.x = p.y = 0;
-
-            for(size_t j = 0 ; j<contours[i].size(); j++ )
-                p+=contours[i][j];
-
-            srcImagePoints_temp.at(i)=cvPoint2D32f(float(p.x)/contours[i].size(),float(p.y)/contours[i].size());
-        }
-
-        //Need to keep the same order
-        //> y = 0
-        //> x = 1
-        //< x = 2
-        //< y = 3
-
-        //get point 0;
-        size_t index = 0;
-        for(size_t i = 1 ; i<srcImagePoints_temp.size(); i++ )
-        {
-            if (srcImagePoints_temp.at(i).y > srcImagePoints_temp.at(index).y)
-                index = i;
-        }
-        srcImagePoints->at(0) = srcImagePoints_temp.at(index);
-
-        //get point 1;
-        index = 0;
-        for(size_t i = 1 ; i<srcImagePoints_temp.size(); i++ )
-        {
-            if (srcImagePoints_temp.at(i).x > srcImagePoints_temp.at(index).x)
-                index = i;
-        }
-        srcImagePoints->at(1) = srcImagePoints_temp.at(index);
-
-        //get point 2;
-        index = 0;
-        for(size_t i = 1 ; i<srcImagePoints_temp.size(); i++ )
-        {
-            if (srcImagePoints_temp.at(i).x < srcImagePoints_temp.at(index).x)
-                index = i;
-        }
-        srcImagePoints->at(2) = srcImagePoints_temp.at(index);
-
-        //get point 3;
-        index = 0;
-        for(size_t i = 1 ; i<srcImagePoints_temp.size(); i++ )
-        {
-            if (srcImagePoints_temp.at(i).y < srcImagePoints_temp.at(index).y)
-                index = i;
-        }
-        srcImagePoints->at(3) = srcImagePoints_temp.at(index);
-
-        Mat Msource = source;
-        stringstream ss;
-        for(size_t i = 0 ; i<srcImagePoints_temp.size(); i++ )
-        {
-            ss<<i;
-            circle(Msource,srcImagePoints->at(i),5,Scalar(0,0,255));
-            putText(Msource,ss.str(),srcImagePoints->at(i),FONT_HERSHEY_SIMPLEX,1,Scalar(0,0,255));
-            ss.str("");
-
-            //new coordinate system in the middle of the frame and reversed (camera coordinate system)
-            srcImagePoints->at(i) = cvPoint2D32f(srcImagePoints_temp.at(i).x-source.cols/2,source.rows/2-srcImagePoints_temp.at(i).y);
-        }
-    }
-
-}
-
-static void createOpenGLMatrixFrom(float *posePOSIT,const CvMatr32f &rotationMatrix, const CvVect32f &translationVector)
-{
-
-
-    //coordinate system returned is relative to the first 3D input point
-    for (int f=0; f<3; f++)
-    {
-        for (int c=0; c<3; c++)
-        {
-            posePOSIT[c*4+f] = rotationMatrix[f*3+c];	//transposed
-        }
-    }
-    posePOSIT[3] = 0.0;
-    posePOSIT[7] = 0.0;
-    posePOSIT[11] = 0.0;
-    posePOSIT[12] = translationVector[0];
-    posePOSIT[13] = translationVector[1];
-    posePOSIT[14] = translationVector[2];
-    posePOSIT[15] = 1.0;
-}
-
-int main(void)
-{
-    help();
-    VideoCapture video("cube4.avi");
-    CV_Assert(video.isOpened());
-
-    Mat source, grayImage;
-
-    video >> source;
-
-    namedWindow("original", WINDOW_AUTOSIZE | CV_WINDOW_FREERATIO);
-    namedWindow("POSIT", WINDOW_AUTOSIZE | CV_WINDOW_FREERATIO);
-    displayOverlay("POSIT", "We lost the 4 corners' detection quite often (the red circles disappear). This demo is only to illustrate how to use OpenGL callback.\n -- Press ESC to exit.", 10000);
-
-    float OpenGLMatrix[]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
-    setOpenGlDrawCallback("POSIT",on_opengl,OpenGLMatrix);
-
-    vector<CvPoint3D32f> modelPoints;
-    initPOSIT(&modelPoints);
-
-    //Create the POSIT object with the model points
-    CvPOSITObject* positObject = cvCreatePOSITObject( &modelPoints[0], (int)modelPoints.size() );
-
-    CvMatr32f rotation_matrix = new float[9];
-    CvVect32f translation_vector = new float[3];
-    CvTermCriteria criteria = cvTermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 100, 1.0e-4f);
-
-    vector<CvPoint2D32f> srcImagePoints(4,cvPoint2D32f(0,0));
-
-
-    while(waitKey(33) != 27)
-    {
-        video >> source;
-        imshow("original",source);
-
-        foundCorners(&srcImagePoints,source,grayImage);
-        cvPOSIT( positObject, &srcImagePoints[0], FOCAL_LENGTH, criteria, rotation_matrix, translation_vector );
-        createOpenGLMatrixFrom(OpenGLMatrix,rotation_matrix,translation_vector);
-
-        imshow("POSIT",source);
-
-        if (video.get(CV_CAP_PROP_POS_AVI_RATIO) > 0.99)
-            video.set(CV_CAP_PROP_POS_AVI_RATIO, 0);
-    }
-
-    destroyAllWindows();
-    cvReleasePOSITObject(&positObject);
-
-    return 0;
-}
diff --git a/samples/cpp/Qt_sample/qt_opengl.cpp b/samples/cpp/Qt_sample/qt_opengl.cpp
new file mode 100644
index 0000000000..2878da4c00
--- /dev/null
+++ b/samples/cpp/Qt_sample/qt_opengl.cpp
@@ -0,0 +1,268 @@
+// Yannick Verdie 2010
+// --- Please read help() below: ---
+
+#include <iostream>
+#include <vector>
+
+#include <opencv2/calib3d/calib3d.hpp>
+#include <opencv2/core/core.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/legacy/compat.hpp>
+
+#ifdef __APPLE__
+#include <OpenGL/gl.h>
+#else
+#include <GL/gl.h>
+#endif
+
+using namespace std;
+using namespace cv;
+
+static void help()
+{
+    cout << "This demo demonstrates the use of the Qt enhanced version of the highgui GUI interface\n"
+            "and dang if it doesn't throw in the use of of the POSIT 3D tracking algorithm too\n"
+            "It works off of the video: cube4.avi\n"
+            "Using OpenCV version " << CV_VERSION << "\n\n"
+
+            " 1) This demo is mainly based on work from Javier Barandiaran Martirena\n"
+            "    See this page http://code.opencv.org/projects/opencv/wiki/Posit.\n"
+            " 2) This is a demo to illustrate how to use **OpenGL Callback**.\n"
+            " 3) You need Qt binding to compile this sample with OpenGL support enabled.\n"
+            " 4) The features' detection is very basic and could highly be improved\n"
+            "    (basic thresholding tuned for the specific video) but 2).\n"
+            " 5) Thanks to Google Summer of Code 2010 for supporting this work!\n" << endl;
+}
+
+#define FOCAL_LENGTH 600
+#define CUBE_SIZE 0.5
+
+static void renderCube(float size)
+{
+    glBegin(GL_QUADS);
+    // Front Face
+    glNormal3f( 0.0f, 0.0f, 1.0f);
+    glVertex3f( 0.0f,  0.0f,  0.0f);
+    glVertex3f( size,  0.0f,  0.0f);
+    glVertex3f( size,  size,  0.0f);
+    glVertex3f( 0.0f,  size,  0.0f);
+    // Back Face
+    glNormal3f( 0.0f, 0.0f,-1.0f);
+    glVertex3f( 0.0f,  0.0f, size);
+    glVertex3f( 0.0f,  size, size);
+    glVertex3f( size,  size, size);
+    glVertex3f( size,  0.0f, size);
+    // Top Face
+    glNormal3f( 0.0f, 1.0f, 0.0f);
+    glVertex3f( 0.0f,  size,  0.0f);
+    glVertex3f( size,  size,  0.0f);
+    glVertex3f( size,  size, size);
+    glVertex3f( 0.0f,  size, size);
+    // Bottom Face
+    glNormal3f( 0.0f,-1.0f, 0.0f);
+    glVertex3f( 0.0f,  0.0f,  0.0f);
+    glVertex3f( 0.0f,  0.0f, size);
+    glVertex3f( size,  0.0f, size);
+    glVertex3f( size,  0.0f,  0.0f);
+    // Right face
+    glNormal3f( 1.0f, 0.0f, 0.0f);
+    glVertex3f( size,  0.0f, 0.0f);
+    glVertex3f( size,  0.0f, size);
+    glVertex3f( size,  size, size);
+    glVertex3f( size,  size, 0.0f);
+    // Left Face
+    glNormal3f(-1.0f, 0.0f, 0.0f);
+    glVertex3f( 0.0f,  0.0f, 0.0f);
+    glVertex3f( 0.0f,  size, 0.0f);
+    glVertex3f( 0.0f,  size, size);
+    glVertex3f( 0.0f,  0.0f, size);
+    glEnd();
+}
+
+static void on_opengl(void* param)
+{
+    //Draw the object with the estimated pose
+    glLoadIdentity();
+    glScalef( 1.0f, 1.0f, -1.0f);
+    glMultMatrixf( (float*)param );
+    glEnable( GL_LIGHTING );
+    glEnable( GL_LIGHT0 );
+    glEnable( GL_BLEND );
+    glBlendFunc(GL_SRC_ALPHA, GL_ONE);
+    renderCube( CUBE_SIZE );
+    glDisable(GL_BLEND);
+    glDisable( GL_LIGHTING );
+}
+
+static void initPOSIT(std::vector<CvPoint3D32f> * modelPoints)
+{
+    // Create the model pointss
+    modelPoints->push_back(cvPoint3D32f(0.0f, 0.0f, 0.0f)); // The first must be (0, 0, 0)
+    modelPoints->push_back(cvPoint3D32f(0.0f, 0.0f, CUBE_SIZE));
+    modelPoints->push_back(cvPoint3D32f(CUBE_SIZE, 0.0f, 0.0f));
+    modelPoints->push_back(cvPoint3D32f(0.0f, CUBE_SIZE, 0.0f));
+}
+
+static void foundCorners(vector<CvPoint2D32f> * srcImagePoints, const Mat & source, Mat & grayImage)
+{
+    cvtColor(source, grayImage, COLOR_RGB2GRAY);
+    GaussianBlur(grayImage, grayImage, Size(11, 11), 0, 0);
+    normalize(grayImage, grayImage, 0, 255, NORM_MINMAX);
+    threshold(grayImage, grayImage, 26, 255, THRESH_BINARY_INV); //25
+
+    Mat MgrayImage = grayImage;
+    vector<vector<Point> > contours;
+    vector<Vec4i> hierarchy;
+    findContours(MgrayImage, contours, hierarchy, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);
+
+    Point p;
+    vector<CvPoint2D32f> srcImagePoints_temp(4, cvPoint2D32f(0, 0));
+
+    if (contours.size() == srcImagePoints_temp.size())
+    {
+        for (size_t i = 0; i < contours.size(); i++ )
+        {
+            p.x = p.y = 0;
+
+            for (size_t j = 0 ; j < contours[i].size(); j++)
+                p += contours[i][j];
+
+            srcImagePoints_temp.at(i) = cvPoint2D32f(float(p.x) / contours[i].size(), float(p.y) / contours[i].size());
+        }
+
+        // Need to keep the same order
+        // > y = 0
+        // > x = 1
+        // < x = 2
+        // < y = 3
+
+        // get point 0;
+        size_t index = 0;
+        for (size_t i = 1 ; i<srcImagePoints_temp.size(); i++)
+            if (srcImagePoints_temp.at(i).y > srcImagePoints_temp.at(index).y)
+                index = i;
+        srcImagePoints->at(0) = srcImagePoints_temp.at(index);
+
+        // get point 1;
+        index = 0;
+        for (size_t i = 1 ; i<srcImagePoints_temp.size(); i++)
+            if (srcImagePoints_temp.at(i).x > srcImagePoints_temp.at(index).x)
+                index = i;
+        srcImagePoints->at(1) = srcImagePoints_temp.at(index);
+
+        // get point 2;
+        index = 0;
+        for (size_t i = 1 ; i<srcImagePoints_temp.size(); i++)
+            if (srcImagePoints_temp.at(i).x < srcImagePoints_temp.at(index).x)
+                index = i;
+        srcImagePoints->at(2) = srcImagePoints_temp.at(index);
+
+        // get point 3;
+        index = 0;
+        for (size_t i = 1 ; i<srcImagePoints_temp.size(); i++ )
+            if (srcImagePoints_temp.at(i).y < srcImagePoints_temp.at(index).y)
+                index = i;
+        srcImagePoints->at(3) = srcImagePoints_temp.at(index);
+
+        Mat Msource = source;
+        stringstream ss;
+        for (size_t i = 0; i<srcImagePoints_temp.size(); i++ )
+        {
+            ss << i;
+            circle(Msource, srcImagePoints->at(i), 5, Scalar(0, 0, 255));
+            putText(Msource, ss.str(), srcImagePoints->at(i), FONT_HERSHEY_SIMPLEX, 1, Scalar(0, 0, 255));
+            ss.str("");
+
+            // new coordinate system in the middle of the frame and reversed (camera coordinate system)
+            srcImagePoints->at(i) = cvPoint2D32f(srcImagePoints_temp.at(i).x - source.cols / 2,
+                                                 source.rows / 2 - srcImagePoints_temp.at(i).y);
+        }
+    }
+}
+
+static void createOpenGLMatrixFrom(float * posePOSIT, const CvMatr32f & rotationMatrix,
+                                   const CvVect32f & translationVector)
+{
+    // coordinate system returned is relative to the first 3D input point
+    for (int f = 0; f < 3; f++)
+        for (int c = 0; c < 3; c++)
+            posePOSIT[c * 4 + f] = rotationMatrix[f * 3 + c]; // transposed
+
+    posePOSIT[3] = translationVector[0];
+    posePOSIT[7] = translationVector[1];
+    posePOSIT[11] = translationVector[2];
+    posePOSIT[12] = 0.0f;
+    posePOSIT[13] = 0.0f;
+    posePOSIT[14] = 0.0f;
+    posePOSIT[15] = 1.0f;
+}
+
+int main(void)
+{
+    help();
+
+    string fileName = "cube4.avi";
+    VideoCapture video(fileName);
+    if (!video.isOpened())
+    {
+        cerr << "Video file " << fileName << " could not be opened" << endl;
+        return EXIT_FAILURE;
+    }
+
+    Mat source, grayImage;
+    video >> source;
+
+    namedWindow("Original", WINDOW_AUTOSIZE | CV_WINDOW_FREERATIO);
+    namedWindow("POSIT", WINDOW_OPENGL | CV_WINDOW_FREERATIO);
+    resizeWindow("POSIT", source.cols, source.rows);
+
+    displayOverlay("POSIT", "We lost the 4 corners' detection quite often (the red circles disappear).\n"
+                   "This demo is only to illustrate how to use OpenGL callback.\n"
+                   " -- Press ESC to exit.", 10000);
+
+    float OpenGLMatrix[] = { 0, 0, 0, 0,
+                             0, 0, 0, 0,
+                             0, 0, 0, 0,
+                             0, 0, 0, 0 };
+    setOpenGlContext("POSIT");
+    setOpenGlDrawCallback("POSIT", on_opengl, OpenGLMatrix);
+
+    vector<CvPoint3D32f> modelPoints;
+    initPOSIT(&modelPoints);
+
+    // Create the POSIT object with the model points
+    CvPOSITObject* positObject = cvCreatePOSITObject( &modelPoints[0], (int)modelPoints.size());
+
+    CvMatr32f rotation_matrix = new float[9];
+    CvVect32f translation_vector = new float[3];
+    CvTermCriteria criteria = cvTermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 100, 1e-4f);
+    vector<CvPoint2D32f> srcImagePoints(4, cvPoint2D32f(0, 0));
+
+    while (waitKey(33) != 27)
+    {
+        video >> source;
+        if (source.empty())
+            break;
+
+        imshow("Original", source);
+
+        foundCorners(&srcImagePoints, source, grayImage);
+        cvPOSIT(positObject, &srcImagePoints[0], FOCAL_LENGTH, criteria, rotation_matrix, translation_vector);
+        createOpenGLMatrixFrom(OpenGLMatrix, rotation_matrix, translation_vector);
+
+        updateWindow("POSIT");
+
+        if (video.get(CV_CAP_PROP_POS_AVI_RATIO) > 0.99)
+            video.set(CV_CAP_PROP_POS_AVI_RATIO, 0);
+    }
+
+    setOpenGlDrawCallback("POSIT", NULL, NULL);
+    destroyAllWindows();
+    cvReleasePOSITObject(&positObject);
+
+    delete[]rotation_matrix;
+    delete[]translation_vector;
+
+    return EXIT_SUCCESS;
+}
diff --git a/samples/cpp/stitching_detailed.cpp b/samples/cpp/stitching_detailed.cpp
index 7394a72821..4162addb38 100644
--- a/samples/cpp/stitching_detailed.cpp
+++ b/samples/cpp/stitching_detailed.cpp
@@ -355,7 +355,7 @@ int main(int argc, char* argv[])
     Ptr<FeaturesFinder> finder;
     if (features_type == "surf")
     {
-#if defined(HAVE_OPENCV_NONFREE) && defined(HAVE_OPENCV_GPU) && !defined(ANDROID)
+#if defined(HAVE_OPENCV_NONFREE) && defined(HAVE_OPENCV_GPU)
         if (try_gpu && gpu::getCudaEnabledDeviceCount() > 0)
             finder = new SurfFeaturesFinderGpu();
         else
@@ -543,7 +543,7 @@ int main(int argc, char* argv[])
     // Warp images and their masks
 
     Ptr<WarperCreator> warper_creator;
-#if defined(HAVE_OPENCV_GPU) && !defined(ANDROID)
+#if defined(HAVE_OPENCV_GPU)
     if (try_gpu && gpu::getCudaEnabledDeviceCount() > 0)
     {
         if (warp_type == "plane") warper_creator = new cv::PlaneWarperGpu();
@@ -608,7 +608,7 @@ int main(int argc, char* argv[])
         seam_finder = new detail::VoronoiSeamFinder();
     else if (seam_find_type == "gc_color")
     {
-#if defined(HAVE_OPENCV_GPU) && !defined(ANDROID)
+#if defined(HAVE_OPENCV_GPU)
         if (try_gpu && gpu::getCudaEnabledDeviceCount() > 0)
             seam_finder = new detail::GraphCutSeamFinderGpu(GraphCutSeamFinderBase::COST_COLOR);
         else
@@ -617,7 +617,7 @@ int main(int argc, char* argv[])
     }
     else if (seam_find_type == "gc_colorgrad")
     {
-#if defined(HAVE_OPENCV_GPU) && !defined(ANDROID)
+#if defined(HAVE_OPENCV_GPU)
         if (try_gpu && gpu::getCudaEnabledDeviceCount() > 0)
             seam_finder = new detail::GraphCutSeamFinderGpu(GraphCutSeamFinderBase::COST_COLOR_GRAD);
         else
diff --git a/samples/cpp/tutorial_code/viz/bunny.ply b/samples/cpp/tutorial_code/viz/bunny.ply
new file mode 100644
index 0000000000..7d34233395
--- /dev/null
+++ b/samples/cpp/tutorial_code/viz/bunny.ply
@@ -0,0 +1,5752 @@
+ply
+format ascii 1.0
+comment zipper output
+element vertex 1889
+property float x
+property float y
+property float z
+property float confidence
+property float intensity
+element face 3851
+property list uchar int vertex_indices
+end_header
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diff --git a/samples/cpp/tutorial_code/viz/creating_widgets.cpp b/samples/cpp/tutorial_code/viz/creating_widgets.cpp
new file mode 100644
index 0000000000..9ee6c54364
--- /dev/null
+++ b/samples/cpp/tutorial_code/viz/creating_widgets.cpp
@@ -0,0 +1,113 @@
+/**
+ * @file creating_widgets.cpp
+ * @brief Creating custom widgets using VTK
+ * @author Ozan Cagri Tonkal
+ */
+
+#include <opencv2/viz/vizcore.hpp>
+#include <opencv2/viz/widget_accessor.hpp>
+#include <iostream>
+
+#include <vtkPoints.h>
+#include <vtkTriangle.h>
+#include <vtkCellArray.h>
+#include <vtkPolyData.h>
+#include <vtkPolyDataMapper.h>
+#include <vtkIdList.h>
+#include <vtkActor.h>
+#include <vtkProp.h>
+
+using namespace cv;
+using namespace std;
+
+/**
+ * @function help
+ * @brief Display instructions to use this tutorial program
+ */
+void help()
+{
+    cout
+    << "--------------------------------------------------------------------------"   << endl
+    << "This program shows how to create a custom widget. You can create your own "
+    << "widgets by extending Widget2D/Widget3D, and with the help of WidgetAccessor." << endl
+    << "Usage:"                                                                       << endl
+    << "./creating_widgets"                                                           << endl
+    << endl;
+}
+
+/**
+ * @class TriangleWidget
+ * @brief Defining our own 3D Triangle widget
+ */
+class WTriangle : public viz::Widget3D
+{
+    public:
+        WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color = viz::Color::white());
+};
+
+/**
+ * @function TriangleWidget::TriangleWidget
+ * @brief Constructor
+ */
+WTriangle::WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color)
+{
+    // Create a triangle
+    vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
+    points->InsertNextPoint(pt1.x, pt1.y, pt1.z);
+    points->InsertNextPoint(pt2.x, pt2.y, pt2.z);
+    points->InsertNextPoint(pt3.x, pt3.y, pt3.z);
+
+    vtkSmartPointer<vtkTriangle> triangle = vtkSmartPointer<vtkTriangle>::New();
+    triangle->GetPointIds()->SetId(0,0);
+    triangle->GetPointIds()->SetId(1,1);
+    triangle->GetPointIds()->SetId(2,2);
+
+    vtkSmartPointer<vtkCellArray> cells = vtkSmartPointer<vtkCellArray>::New();
+    cells->InsertNextCell(triangle);
+
+    // Create a polydata object
+    vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New();
+
+    // Add the geometry and topology to the polydata
+    polyData->SetPoints(points);
+    polyData->SetPolys(cells);
+
+    // Create mapper and actor
+    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
+#if VTK_MAJOR_VERSION <= 5
+    mapper->SetInput(polyData);
+#else
+    mapper->SetInputData(polyData);
+#endif
+
+    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
+    actor->SetMapper(mapper);
+
+    // Store this actor in the widget in order that visualizer can access it
+    viz::WidgetAccessor::setProp(*this, actor);
+
+    // Set the color of the widget. This has to be called after WidgetAccessor.
+    setColor(color);
+}
+
+/**
+ * @function main
+ */
+int main()
+{
+    help();
+
+    /// Create a window
+    viz::Viz3d myWindow("Creating Widgets");
+
+    /// Create a triangle widget
+    WTriangle tw(Point3f(0.0,0.0,0.0), Point3f(1.0,1.0,1.0), Point3f(0.0,1.0,0.0), viz::Color::red());
+
+    /// Show widget in the visualizer window
+    myWindow.showWidget("TRIANGLE", tw);
+
+    /// Start event loop
+    myWindow.spin();
+
+    return 0;
+}
diff --git a/samples/cpp/tutorial_code/viz/launching_viz.cpp b/samples/cpp/tutorial_code/viz/launching_viz.cpp
new file mode 100644
index 0000000000..55a3ddee2c
--- /dev/null
+++ b/samples/cpp/tutorial_code/viz/launching_viz.cpp
@@ -0,0 +1,66 @@
+/**
+ * @file launching_viz.cpp
+ * @brief Launching visualization window
+ * @author Ozan Cagri Tonkal
+ */
+
+#include <opencv2/viz/vizcore.hpp>
+#include <iostream>
+
+using namespace cv;
+using namespace std;
+
+/**
+ * @function help
+ * @brief Display instructions to use this tutorial program
+ */
+void help()
+{
+    cout
+    << "--------------------------------------------------------------------------" << endl
+    << "This program shows how to launch a 3D visualization window. You can stop event loop to continue executing. "
+    << "You can access the same window via its name. You can run event loop for a given period of time. " << endl
+    << "Usage:"                                                                     << endl
+    << "./launching_viz"                                                            << endl
+    << endl;
+}
+
+/**
+ * @function main
+ */
+int main()
+{
+    help();
+    /// Create a window
+    viz::Viz3d myWindow("Viz Demo");
+
+    /// Start event loop
+    myWindow.spin();
+
+    /// Event loop is over when pressed q, Q, e, E
+    cout << "First event loop is over" << endl;
+
+    /// Access window via its name
+    viz::Viz3d sameWindow = viz::getWindowByName("Viz Demo");
+
+    /// Start event loop
+    sameWindow.spin();
+
+    /// Event loop is over when pressed q, Q, e, E
+    cout << "Second event loop is over" << endl;
+
+    /// Event loop is over when pressed q, Q, e, E
+    /// Start event loop once for 1 millisecond
+    sameWindow.spinOnce(1, true);
+    while(!sameWindow.wasStopped())
+    {
+        /// Interact with window
+
+        /// Event loop for 1 millisecond
+        sameWindow.spinOnce(1, true);
+    }
+
+    /// Once more event loop is stopped
+    cout << "Last event loop is over" << endl;
+    return 0;
+}
diff --git a/samples/cpp/tutorial_code/viz/transformations.cpp b/samples/cpp/tutorial_code/viz/transformations.cpp
new file mode 100644
index 0000000000..d8713fddc1
--- /dev/null
+++ b/samples/cpp/tutorial_code/viz/transformations.cpp
@@ -0,0 +1,112 @@
+/**
+ * @file transformations.cpp
+ * @brief Visualizing cloud in different positions, coordinate frames, camera frustums
+ * @author Ozan Cagri Tonkal
+ */
+
+#include <opencv2/viz/vizcore.hpp>
+#include <iostream>
+#include <fstream>
+
+using namespace cv;
+using namespace std;
+
+/**
+ * @function help
+ * @brief Display instructions to use this tutorial program
+ */
+void help()
+{
+    cout
+    << "--------------------------------------------------------------------------"   << endl
+    << "This program shows how to use makeTransformToGlobal() to compute required pose,"
+    << "how to use makeCameraPose and Viz3d::setViewerPose. You can observe the scene "
+    << "from camera point of view (C) or global point of view (G)"                    << endl
+    << "Usage:"                                                                       << endl
+    << "./transformations [ G | C ]"                                                 << endl
+    << endl;
+}
+
+/**
+ * @function cvcloud_load
+ * @brief load bunny.ply
+ */
+Mat cvcloud_load()
+{
+    Mat cloud(1, 1889, CV_32FC3);
+    ifstream ifs("bunny.ply");
+
+    string str;
+    for(size_t i = 0; i < 12; ++i)
+        getline(ifs, str);
+
+    Point3f* data = cloud.ptr<cv::Point3f>();
+    float dummy1, dummy2;
+    for(size_t i = 0; i < 1889; ++i)
+        ifs >> data[i].x >> data[i].y >> data[i].z >> dummy1 >> dummy2;
+
+    cloud *= 5.0f;
+    return cloud;
+}
+
+/**
+ * @function main
+ */
+int main(int argn, char **argv)
+{
+    help();
+
+    if (argn < 2)
+    {
+        cout << "Missing arguments." << endl;
+        return 1;
+    }
+
+    bool camera_pov = (argv[1][0] == 'C');
+
+    /// Create a window
+    viz::Viz3d myWindow("Coordinate Frame");
+
+    /// Add coordinate axes
+    myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
+
+    /// Let's assume camera has the following properties
+    Point3f cam_pos(3.0f,3.0f,3.0f), cam_focal_point(3.0f,3.0f,2.0f), cam_y_dir(-1.0f,0.0f,0.0f);
+
+    /// We can get the pose of the cam using makeCameraPose
+    Affine3f cam_pose = viz::makeCameraPose(cam_pos, cam_focal_point, cam_y_dir);
+
+    /// We can get the transformation matrix from camera coordinate system to global using
+    /// - makeTransformToGlobal. We need the axes of the camera
+    Affine3f transform = viz::makeTransformToGlobal(Vec3f(0.0f,-1.0f,0.0f), Vec3f(-1.0f,0.0f,0.0f), Vec3f(0.0f,0.0f,-1.0f), cam_pos);
+
+    /// Create a cloud widget.
+    Mat bunny_cloud = cvcloud_load();
+    viz::WCloud cloud_widget(bunny_cloud, viz::Color::green());
+
+    /// Pose of the widget in camera frame
+    Affine3f cloud_pose = Affine3f().translate(Vec3f(0.0f,0.0f,3.0f));
+    /// Pose of the widget in global frame
+    Affine3f cloud_pose_global = transform * cloud_pose;
+
+    /// Visualize camera frame
+    if (!camera_pov)
+    {
+        viz::WCameraPosition cpw(0.5); // Coordinate axes
+        viz::WCameraPosition cpw_frustum(Vec2f(0.889484, 0.523599)); // Camera frustum
+        myWindow.showWidget("CPW", cpw, cam_pose);
+        myWindow.showWidget("CPW_FRUSTUM", cpw_frustum, cam_pose);
+    }
+
+    /// Visualize widget
+    myWindow.showWidget("bunny", cloud_widget, cloud_pose_global);
+
+    /// Set the viewer pose to that of camera
+    if (camera_pov)
+        myWindow.setViewerPose(cam_pose);
+
+    /// Start event loop.
+    myWindow.spin();
+
+    return 0;
+}
diff --git a/samples/cpp/tutorial_code/viz/widget_pose.cpp b/samples/cpp/tutorial_code/viz/widget_pose.cpp
new file mode 100644
index 0000000000..3ecead8d93
--- /dev/null
+++ b/samples/cpp/tutorial_code/viz/widget_pose.cpp
@@ -0,0 +1,79 @@
+/**
+ * @file widget_pose.cpp
+ * @brief Setting pose of a widget
+ * @author Ozan Cagri Tonkal
+ */
+
+#include <opencv2/viz/vizcore.hpp>
+#include <opencv2/calib3d/calib3d.hpp>
+#include <iostream>
+
+using namespace cv;
+using namespace std;
+
+/**
+ * @function help
+ * @brief Display instructions to use this tutorial program
+ */
+void help()
+{
+    cout
+    << "--------------------------------------------------------------------------"   << endl
+    << "This program shows how to visualize a cube rotated around (1,1,1) and shifted "
+    << "using Rodrigues vector."                                                      << endl
+    << "Usage:"                                                                       << endl
+    << "./widget_pose"                                                                << endl
+    << endl;
+}
+
+/**
+ * @function main
+ */
+int main()
+{
+    help();
+
+    /// 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);
+    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);
+
+        Mat rot_mat;
+        Rodrigues(rot_vec, rot_mat);
+
+        /// Construct pose
+        Affine3f pose(rot_mat, Vec3f(translation, translation, translation));
+
+        myWindow.setWidgetPose("Cube Widget", pose);
+
+        myWindow.spinOnce(1, true);
+    }
+
+    return 0;
+}
diff --git a/samples/gpu/CMakeLists.txt b/samples/gpu/CMakeLists.txt
index 7093cf5d19..8fa539473b 100644
--- a/samples/gpu/CMakeLists.txt
+++ b/samples/gpu/CMakeLists.txt
@@ -83,6 +83,6 @@ endif()
 if (INSTALL_C_EXAMPLES AND NOT WIN32)
   file(GLOB install_list *.c *.cpp *.jpg *.png *.data makefile.* build_all.sh *.dsp *.cmd )
   install(FILES ${install_list}
-          DESTINATION share/OpenCV/samples/${project}
+          DESTINATION ${OPENCV_SAMPLES_SRC_INSTALL_PATH}/gpu
           PERMISSIONS OWNER_READ GROUP_READ WORLD_READ COMPONENT samples)
 endif()
diff --git a/samples/gpu/performance/CMakeLists.txt b/samples/gpu/performance/CMakeLists.txt
index 0b2346f91f..de0feadd26 100644
--- a/samples/gpu/performance/CMakeLists.txt
+++ b/samples/gpu/performance/CMakeLists.txt
@@ -29,6 +29,7 @@ endif()
 if(INSTALL_C_EXAMPLES AND NOT WIN32)
   file(GLOB GPU_FILES performance/*.cpp performance/*.h)
   install(FILES ${GPU_FILES}
-          DESTINATION share/OpenCV/samples/gpu/performance
-          PERMISSIONS OWNER_READ GROUP_READ WORLD_READ)
+          DESTINATION ${OPENCV_SAMPLES_SRC_INSTALL_PATH}/gpu/performance
+          PERMISSIONS OWNER_READ GROUP_READ WORLD_READ
+          COMPONENT samples)
 endif()
diff --git a/samples/ocl/CMakeLists.txt b/samples/ocl/CMakeLists.txt
index 4139211000..7fc20fd356 100644
--- a/samples/ocl/CMakeLists.txt
+++ b/samples/ocl/CMakeLists.txt
@@ -54,6 +54,6 @@ endif()
 if (INSTALL_C_EXAMPLES AND NOT WIN32)
   file(GLOB install_list *.c *.cpp *.jpg *.png *.data makefile.* build_all.sh *.dsp *.cmd )
   install(FILES ${install_list}
-          DESTINATION share/OpenCV/samples/${project}
+          DESTINATION ${OPENCV_SAMPLES_SRC_INSTALL_PATH}/ocl
           PERMISSIONS OWNER_READ GROUP_READ WORLD_READ COMPONENT samples)
 endif()