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+/*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
+    {
+
+//! @addtogroup viz_widget
+//! @{
+
+        /////////////////////////////////////////////////////////////////////////////
+        /// Widget rendering properties
+        enum RenderingProperties
+        {
+            POINT_SIZE,
+            OPACITY,
+            LINE_WIDTH,
+            FONT_SIZE,
+            REPRESENTATION,
+            IMMEDIATE_RENDERING,
+            SHADING,
+            AMBIENT,
+            LIGHTING
+        };
+
+        enum RepresentationValues
+        {
+            REPRESENTATION_POINTS,
+            REPRESENTATION_WIREFRAME,
+            REPRESENTATION_SURFACE
+        };
+
+        enum ShadingValues
+        {
+            SHADING_FLAT,
+            SHADING_GOURAUD,
+            SHADING_PHONG
+        };
+
+        /////////////////////////////////////////////////////////////////////////////
+
+        /** @brief 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();
+
+            /** @brief Creates a widget from ply file.
+
+            @param file_name Ply file name.
+             */
+            static Widget fromPlyFile(const String &file_name);
+
+            /** @brief Sets rendering property 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**
+             */
+            void setRenderingProperty(int property, double value);
+            /** @brief Returns rendering property of the widget.
+
+            @param property Property.
+
+            **Rendering property** can be one of the following:
+            -   **POINT_SIZE**
+            -   **OPACITY**
+            -   **LINE_WIDTH**
+            -   **FONT_SIZE**
+            -   **AMBIENT**
+            -
+            **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**
+             */
+            double getRenderingProperty(int property) const;
+
+            /** @brief Casts a widget to another.
+
+            @code
+            // 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>();
+            @endcode
+
+            @note 3D Widgets can only be cast to 3D Widgets. 2D Widgets can only be cast to 2D Widgets.
+             */
+            template<typename _W> _W cast();
+        private:
+            class Impl;
+            Impl *impl_;
+            friend struct WidgetAccessor;
+        };
+
+        /////////////////////////////////////////////////////////////////////////////
+
+        /** @brief Base class of all 3D widgets.
+         */
+        class CV_EXPORTS Widget3D : public Widget
+        {
+        public:
+            Widget3D() {}
+
+            /** @brief Sets pose of the widget.
+
+            @param pose The new pose of the widget.
+             */
+            void setPose(const Affine3d &pose);
+            /** @brief Updates pose of the widget by pre-multiplying its current pose.
+
+            @param pose The pose that the current pose of the widget will be pre-multiplied by.
+             */
+            void updatePose(const Affine3d &pose);
+            /** @brief Returns the current pose of the widget.
+             */
+            Affine3d getPose() const;
+
+            /** @brief Transforms internal widget data (i.e. points, normals) using the given transform.
+
+            @param transform Specified transformation to apply.
+             */
+            void applyTransform(const Affine3d &transform);
+
+            /** @brief Sets the color of the widget.
+
+            @param color color of type Color
+             */
+            void setColor(const Color &color);
+
+        };
+
+        /////////////////////////////////////////////////////////////////////////////
+
+        /** @brief Base class of all 2D widgets.
+        */
+        class CV_EXPORTS Widget2D : public Widget
+        {
+        public:
+            Widget2D() {}
+
+            /** @brief Sets the color of the widget.
+
+            @param color color of type Color
+             */
+            void setColor(const Color &color);
+        };
+
+        /////////////////////////////////////////////////////////////////////////////
+        /// Simple widgets
+
+        /** @brief This 3D Widget defines a finite line.
+        */
+        class CV_EXPORTS WLine : public Widget3D
+        {
+        public:
+            /** @brief Constructs a WLine.
+
+            @param pt1 Start point of the line.
+            @param pt2 End point of the line.
+            @param color Color of the line.
+             */
+            WLine(const Point3d &pt1, const Point3d &pt2, const Color &color = Color::white());
+        };
+
+        /** @brief This 3D Widget defines a finite plane.
+        */
+        class CV_EXPORTS WPlane : public Widget3D
+        {
+        public:
+            /** @brief Constructs a default plane with center point at origin and normal oriented along z-axis.
+
+            @param size Size of the plane
+            @param color Color of the plane.
+             */
+            WPlane(const Size2d& size = Size2d(1.0, 1.0), const Color &color = Color::white());
+
+            /** @brief Constructs a repositioned plane
+
+            @param center Center of the plane
+            @param normal Plane normal orientation
+            @param new_yaxis Up-vector. New orientation of plane y-axis.
+            @param size
+            @param color Color of the 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());
+        };
+
+        /** @brief This 3D Widget defines a sphere. :
+        */
+        class CV_EXPORTS WSphere : public Widget3D
+        {
+        public:
+            /** @brief Constructs a WSphere.
+
+            @param center Center of the sphere.
+            @param radius Radius of the sphere.
+            @param sphere_resolution Resolution of the sphere.
+            @param color Color of the sphere.
+             */
+            WSphere(const cv::Point3d &center, double radius, int sphere_resolution = 10, const Color &color = Color::white());
+        };
+
+        /** @brief This 3D Widget defines an arrow.
+        */
+        class CV_EXPORTS WArrow : public Widget3D
+        {
+        public:
+            /** @brief Constructs an WArrow.
+
+            @param pt1 Start point of the arrow.
+            @param pt2 End point of the arrow.
+            @param thickness Thickness of the arrow. Thickness of arrow head is also adjusted
+            accordingly.
+            @param color Color of the arrow.
+
+            Arrow head is located at the end point of the arrow.
+             */
+            WArrow(const Point3d& pt1, const Point3d& pt2, double thickness = 0.03, const Color &color = Color::white());
+        };
+
+        /** @brief This 3D Widget defines a circle.
+        */
+        class CV_EXPORTS WCircle : public Widget3D
+        {
+        public:
+            /** @brief Constructs default planar circle centred at origin with plane normal along z-axis
+
+            @param radius Radius of the circle.
+            @param thickness Thickness of the circle.
+            @param color Color of the circle.
+             */
+            WCircle(double radius, double thickness = 0.01, const Color &color = Color::white());
+
+            /** @brief Constructs repositioned planar circle.
+
+            @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 Color of the circle.
+             */
+            WCircle(double radius, const Point3d& center, const Vec3d& normal, double thickness = 0.01, const Color &color = Color::white());
+        };
+
+        /** @brief This 3D Widget defines a cone. :
+        */
+        class CV_EXPORTS WCone : public Widget3D
+        {
+        public:
+            /** @brief Constructs default cone oriented along x-axis with center of its base located at origin
+
+            @param length Length of the cone.
+            @param radius Radius of the cone.
+            @param resolution Resolution of the cone.
+            @param color Color of the cone.
+             */
+            WCone(double length, double radius, int resolution = 6.0, const Color &color = Color::white());
+
+            /** @brief Constructs repositioned planar cone.
+
+            @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 Color of the cone.
+
+             */
+            WCone(double radius, const Point3d& center, const Point3d& tip, int resolution = 6.0, const Color &color = Color::white());
+        };
+
+        /** @brief This 3D Widget defines a cylinder. :
+        */
+        class CV_EXPORTS WCylinder : public Widget3D
+        {
+        public:
+            /** @brief Constructs a WCylinder.
+
+            @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 Color of the cylinder.
+             */
+            WCylinder(const Point3d& axis_point1, const Point3d& axis_point2, double radius, int numsides = 30, const Color &color = Color::white());
+        };
+
+        /** @brief This 3D Widget defines a cube.
+         */
+        class CV_EXPORTS WCube : public Widget3D
+        {
+        public:
+            /** @brief Constructs a WCube.
+
+            @param min_point Specifies minimum point of the bounding box.
+            @param max_point Specifies maximum point of the bounding box.
+            @param wire_frame If true, cube is represented as wireframe.
+            @param color Color of the cube.
+
+            ![Cube Widget](images/cube_widget.png)
+             */
+            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());
+        };
+
+        /** @brief This 3D Widget defines a poly line. :
+        */
+        class CV_EXPORTS WPolyLine : public Widget3D
+        {
+        public:
+            WPolyLine(InputArray points, InputArray colors);
+            /** @brief Constructs a WPolyLine.
+
+            @param points Point set.
+            @param color Color of the poly line.
+             */
+            WPolyLine(InputArray points, const Color &color = Color::white());
+        };
+
+        /////////////////////////////////////////////////////////////////////////////
+        /// Text and image widgets
+
+        /** @brief This 2D Widget represents text overlay.
+        */
+        class CV_EXPORTS WText : public Widget2D
+        {
+        public:
+            /** @brief Constructs a WText.
+
+            @param text Text content of the widget.
+            @param pos Position of the text.
+            @param font_size Font size.
+            @param color Color of the text.
+             */
+            WText(const String &text, const Point &pos, int font_size = 20, const Color &color = Color::white());
+
+            /** @brief Sets the text content of the widget.
+
+            @param text Text content of the widget.
+             */
+            void setText(const String &text);
+            /** @brief Returns the current text content of the widget.
+            */
+            String getText() const;
+        };
+
+        /** @brief This 3D Widget represents 3D text. The text always faces the camera.
+        */
+        class CV_EXPORTS WText3D : public Widget3D
+        {
+        public:
+            /** @brief Constructs a WText3D.
+
+            @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 Color of the text.
+             */
+            WText3D(const String &text, const Point3d &position, double text_scale = 1., bool face_camera = true, const Color &color = Color::white());
+
+            /** @brief Sets the text content of the widget.
+
+            @param text Text content of the widget.
+
+             */
+            void setText(const String &text);
+            /** @brief Returns the current text content of the widget.
+            */
+            String getText() const;
+        };
+
+        /** @brief This 2D Widget represents an image overlay. :
+        */
+        class CV_EXPORTS WImageOverlay : public Widget2D
+        {
+        public:
+            /** @brief Constructs an WImageOverlay.
+
+            @param image BGR or Gray-Scale image.
+            @param rect Image is scaled and positioned based on rect.
+             */
+            WImageOverlay(InputArray image, const Rect &rect);
+            /** @brief Sets the image content of the widget.
+
+            @param image BGR or Gray-Scale image.
+             */
+            void setImage(InputArray image);
+        };
+
+        /** @brief This 3D Widget represents an image in 3D space. :
+        */
+        class CV_EXPORTS WImage3D : public Widget3D
+        {
+        public:
+            /** @brief Constructs an WImage3D.
+
+            @param image BGR or Gray-Scale image.
+            @param size Size of the image.
+             */
+            WImage3D(InputArray image, const Size2d &size);
+
+            /** @brief Constructs an WImage3D.
+
+            @param image BGR or Gray-Scale image.
+            @param size Size of the image.
+            @param center Position of the image.
+            @param normal Normal of the plane that represents the image.
+            @param up_vector Determines orientation of the image.
+             */
+            WImage3D(InputArray image, const Size2d &size, const Vec3d &center, const Vec3d &normal, const Vec3d &up_vector);
+
+            /** @brief Sets the image content of the widget.
+
+            @param image BGR or Gray-Scale image.
+             */
+            void setImage(InputArray image);
+
+            /** @brief Sets the image size of the widget.
+
+            @param size the new size of the image.
+             */
+            void setSize(const Size& size);
+        };
+
+        /////////////////////////////////////////////////////////////////////////////
+        /// Compond widgets
+
+        /** @brief This 3D Widget represents a coordinate system. :
+        */
+        class CV_EXPORTS WCoordinateSystem : public Widget3D
+        {
+        public:
+            /** @brief Constructs a WCoordinateSystem.
+
+            @param scale Determines the size of the axes.
+             */
+            WCoordinateSystem(double scale = 1.0);
+        };
+
+        /** @brief This 3D Widget defines a grid. :
+         */
+        class CV_EXPORTS WGrid : public Widget3D
+        {
+        public:
+            /** @brief Constructs a WGrid.
+
+            @param cells Number of cell columns and rows, respectively.
+            @param cells_spacing Size of each cell, respectively.
+            @param color Color of the grid.
+             */
+            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());
+        };
+
+        /** @brief This 3D Widget represents camera position in a scene by its axes or viewing frustum. :
+        */
+        class CV_EXPORTS WCameraPosition : public Widget3D
+        {
+        public:
+            /** @brief Creates camera coordinate frame at the origin.
+
+            ![Camera coordinate frame](images/cpw1.png)
+             */
+            WCameraPosition(double scale = 1.0);
+            /** @brief Display the viewing frustum
+            @param K Intrinsic matrix of the camera.
+            @param scale Scale of the frustum.
+            @param color Color of the frustum.
+
+            Creates viewing frustum of the camera based on its intrinsic matrix K.
+
+            ![Camera viewing frustum](images/cpw2.png)
+            */
+            WCameraPosition(const Matx33d &K, double scale = 1.0, const Color &color = Color::white());
+            /** @brief Display the viewing frustum
+            @param fov Field of view of the camera (horizontal, vertical).
+            @param scale Scale of the frustum.
+            @param color Color of the frustum.
+
+            Creates viewing frustum of the camera based on its field of view fov.
+
+            ![Camera viewing frustum](images/cpw2.png)
+             */
+            WCameraPosition(const Vec2d &fov, double scale = 1.0, const Color &color = Color::white());
+            /** @brief Display image on the far plane of the viewing frustum
+
+            @param K Intrinsic matrix of the camera.
+            @param image 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 Color of the frustum.
+
+            Creates viewing frustum of the camera based on its intrinsic matrix K, and displays image on
+            the far end plane.
+
+            ![Camera viewing frustum with image](images/cpw3.png)
+             */
+            WCameraPosition(const Matx33d &K, InputArray image, double scale = 1.0, const Color &color = Color::white());
+            /** @brief  Display image on the far plane of the viewing frustum
+
+            @param fov Field of view of the camera (horizontal, vertical).
+            @param image 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 Color of the frustum.
+
+            Creates viewing frustum of the camera based on its intrinsic matrix K, and displays image on
+            the far end plane.
+
+            ![Camera viewing frustum with image](images/cpw3.png)
+             */
+            WCameraPosition(const Vec2d &fov, InputArray image, double scale = 1.0, const Color &color = Color::white());
+        };
+
+        /////////////////////////////////////////////////////////////////////////////
+        /// Trajectories
+
+        /** @brief This 3D Widget represents a trajectory. :
+        */
+        class CV_EXPORTS WTrajectory : public Widget3D
+        {
+        public:
+            enum {FRAMES = 1, PATH = 2, BOTH = FRAMES + PATH };
+
+            /** @brief Constructs a WTrajectory.
+
+            @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 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.
+             */
+            WTrajectory(InputArray path, int display_mode = WTrajectory::PATH, double scale = 1.0, const Color &color = Color::white());
+        };
+
+        /** @brief This 3D Widget represents a trajectory. :
+        */
+        class CV_EXPORTS WTrajectoryFrustums : public Widget3D
+        {
+        public:
+            /** @brief Constructs a WTrajectoryFrustums.
+
+            @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 Color of the frustums.
+
+            Displays frustums at each pose of the trajectory.
+             */
+            WTrajectoryFrustums(InputArray path, const Matx33d &K, double scale = 1., const Color &color = Color::white());
+
+            /** @brief Constructs a WTrajectoryFrustums.
+
+            @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 Color of the frustums.
+
+            Displays frustums at each pose of the trajectory.
+             */
+            WTrajectoryFrustums(InputArray path, const Vec2d &fov, double scale = 1., const Color &color = Color::white());
+        };
+
+        /** @brief 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:
+            /** @brief Constructs a WTrajectorySpheres.
+
+            @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 radius Radius of the spheres.
+            @param from Color for first sphere.
+            @param to Color for last sphere. Intermediate spheres will have interpolated color.
+             */
+            WTrajectorySpheres(InputArray path, double line_length = 0.05, double radius = 0.007,
+                               const Color &from = Color::red(), const Color &to = Color::white());
+        };
+
+        /////////////////////////////////////////////////////////////////////////////
+        /// Clouds
+
+        /** @brief This 3D Widget defines a point cloud. :
+
+        @note In case there are four channels in the cloud, fourth channel is ignored.
+        */
+        class CV_EXPORTS WCloud: public Widget3D
+        {
+        public:
+            /** @brief Constructs a WCloud.
+
+            @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).
+             */
+            WCloud(InputArray cloud, InputArray colors);
+
+            /** @brief Constructs a WCloud.
+            @param cloud Set of points which can be of type: CV_32FC3, CV_32FC4, CV_64FC3, CV_64FC4.
+            @param color A single Color for the whole cloud.
+
+            Points in the cloud belong to mask when they are set to (NaN, NaN, NaN).
+             */
+            WCloud(InputArray cloud, const Color &color = Color::white());
+
+            /** @brief Constructs a WCloud.
+            @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.
+            @param normals Normals for each point in cloud. Size and type should match with the cloud parameter.
+
+            Points in the cloud belong to mask when they are set to (NaN, NaN, NaN).
+             */
+            WCloud(InputArray cloud, InputArray colors, InputArray normals);
+
+            /** @brief Constructs a WCloud.
+            @param cloud Set of points which can be of type: CV_32FC3, CV_32FC4, CV_64FC3, CV_64FC4.
+            @param color A single Color for the whole cloud.
+            @param normals Normals for each point in cloud.
+
+            Size and type should match with the cloud parameter.
+            Points in the cloud belong to mask when they are set to (NaN, NaN, NaN).
+             */
+            WCloud(InputArray cloud, const Color &color, InputArray normals);
+        };
+
+        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);
+        };
+
+        /** @brief This 3D Widget defines a collection of clouds. :
+        @note In case there are four channels in the cloud, fourth channel is ignored.
+        */
+        class CV_EXPORTS WCloudCollection : public Widget3D
+        {
+        public:
+            WCloudCollection();
+
+            /** @brief Adds a cloud to the collection.
+
+            @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).
+             */
+            void addCloud(InputArray cloud, InputArray colors, const Affine3d &pose = Affine3d::Identity());
+            /** @brief Adds a cloud to the collection.
+
+            @param cloud Point set which can be of type: CV_32FC3, CV_32FC4, CV_64FC3, CV_64FC4.
+            @param color A single Color for the whole cloud.
+            @param pose Pose of the cloud. Points in the cloud belong to mask when they are set to (NaN, NaN, NaN).
+             */
+            void addCloud(InputArray cloud, const Color &color = Color::white(), const Affine3d &pose = Affine3d::Identity());
+            /** @brief Finalizes cloud data by repacking to single cloud.
+
+            Useful for large cloud collections to reduce memory usage
+            */
+            void finalize();
+        };
+
+        /** @brief This 3D Widget represents normals of a point cloud. :
+        */
+        class CV_EXPORTS WCloudNormals : public Widget3D
+        {
+        public:
+            /** @brief Constructs a WCloudNormals.
+
+            @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 Color of the arrows that represent normals.
+
+            @note In case there are four channels in the cloud, fourth channel is ignored.
+             */
+            WCloudNormals(InputArray cloud, InputArray normals, int level = 64, double scale = 0.1, const Color &color = Color::white());
+        };
+
+        /** @brief Constructs a WMesh.
+
+        @param mesh Mesh object that will be displayed.
+        @param cloud Points of the mesh object.
+        @param polygons Points of the mesh object.
+        @param colors Point colors.
+        @param normals Point normals.
+         */
+        class CV_EXPORTS WMesh : public Widget3D
+        {
+        public:
+            WMesh(const Mesh &mesh);
+            WMesh(InputArray cloud, InputArray polygons, InputArray colors = noArray(), InputArray normals = noArray());
+        };
+
+        /** @brief This class allows to merge several widgets to single one.
+
+        It has quite limited functionality and can't merge widgets with different attributes. For
+        instance, if widgetA has color array and widgetB has only global color defined, then result
+        of merge won't have color at all. The class is suitable for merging large amount of similar
+        widgets. :
+         */
+        class CV_EXPORTS WWidgetMerger : public Widget3D
+        {
+        public:
+            WWidgetMerger();
+
+            //! Add widget to merge with optional position change
+            void addWidget(const Widget3D& widget, const Affine3d &pose = Affine3d::Identity());
+
+            //! Repacks internal structure to single widget
+            void finalize();
+        };
+
+        /////////////////////////////////////////////////////////////////////////////
+        /// 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>();
+        template<> CV_EXPORTS WWidgetMerger Widget::cast<WWidgetMerger>();
+
+//! @}
+
+    } /* namespace viz */
+} /* namespace cv */
+
+#endif