diff --git a/modules/viz/doc/widget.rst b/modules/viz/doc/widget.rst
index 159e4ba80631a34f61ec9c2739cca0ce0ebc780a..936cc5a9df4b843c7cda902426cf02d32ef01a3c 100644
--- a/modules/viz/doc/widget.rst
+++ b/modules/viz/doc/widget.rst
@@ -262,8 +262,8 @@ This 3D Widget defines a finite plane. ::
     class CV_EXPORTS WPlane : public Widget3D
     {
     public:
-        WPlane(const Vec4f& coefs, float size = 1.0, const Color &color = Color::white());
-        WPlane(const Vec4f& coefs, const Point3f& pt, float size = 1.0, const Color &color = Color::white());
+        WPlane(const Vec4d& coefs, double size = 1.0, const Color &color = Color::white());
+        WPlane(const Vec4d& coefs, const Point3f& pt, double size = 1.0, const Color &color = Color::white());
     private:
         /* hidden */
     };
@@ -272,13 +272,13 @@ viz::WPlane::WPlane
 -------------------
 Constructs a WPlane.
 
-.. ocv:function:: WPlane(const Vec4f& coefs, float size = 1.0, const Color &color = Color::white())
+.. ocv:function:: WPlane(const Vec4d& coefs, double size = 1.0, const Color &color = Color::white())
 
     :param coefs: Plane coefficients as in (A,B,C,D) where Ax + By + Cz + D = 0.
     :param size: Size of the plane.
     :param color: :ocv:class:`Color` of the plane.
 
-.. ocv:function:: WPlane(const Vec4f& coefs, const Point3f& pt, float size = 1.0, const Color &color = Color::white())
+.. ocv:function:: WPlane(const Vec4d& coefs, const Point3f& pt, double size = 1.0, const Color &color = Color::white())
 
     :param coefs: Plane coefficients as in (A,B,C,D) where Ax + By + Cz + D = 0.
     :param pt: Position of the plane.
@@ -294,14 +294,14 @@ This 3D Widget defines a sphere. ::
     class CV_EXPORTS WSphere : public Widget3D
     {
     public:
-        WSphere(const cv::Point3f &center, float radius, int sphere_resolution = 10, const Color &color = Color::white())
+        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, float radius, int sphere_resolution = 10, const Color &color = Color::white())
+.. 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.
@@ -317,14 +317,14 @@ This 3D Widget defines an arrow. ::
     class CV_EXPORTS WArrow : public Widget3D
     {
     public:
-        WArrow(const Point3f& pt1, const Point3f& pt2, float thickness = 0.03, const Color &color = Color::white());
+        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, float thickness = 0.03, const Color &color = Color::white())
+.. 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.
@@ -342,14 +342,14 @@ This 3D Widget defines a circle. ::
     class CV_EXPORTS WCircle : public Widget3D
     {
     public:
-        WCircle(const Point3f& pt, float radius, float thickness = 0.01, const Color &color = Color::white());
+        WCircle(const Point3f& pt, double radius, double thickness = 0.01, const Color &color = Color::white());
     };
 
 viz::WCircle::WCircle
 -------------------------------
 Constructs a WCircle.
 
-.. ocv:function:: WCircle(const Point3f& pt, float radius, float thickness = 0.01, const Color &color = Color::white())
+.. ocv:function:: WCircle(const Point3f& pt, double radius, double thickness = 0.01, const Color &color = Color::white())
 
     :param pt: Center of the circle.
     :param radius: Radius of the circle.
@@ -365,14 +365,14 @@ This 3D Widget defines a cylinder. ::
     class CV_EXPORTS WCylinder : public Widget3D
     {
     public:
-        WCylinder(const Point3f& pt_on_axis, const Point3f& axis_direction, float radius, int numsides = 30, const Color &color = Color::white());
+        WCylinder(const Point3f& pt_on_axis, const Point3f& axis_direction, 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, float radius, int numsides = 30, const Color &color = Color::white())
+.. ocv:function:: WCylinder(const Point3f& pt_on_axis, const Point3f& axis_direction, double radius, int numsides = 30, const Color &color = Color::white())
 
     :param pt_on_axis: A point on the axis of the cylinder.
     :param axis_direction: Direction of the axis of the cylinder.
@@ -416,14 +416,14 @@ This 3D Widget represents a coordinate system. ::
     class CV_EXPORTS WCoordinateSystem : public Widget3D
     {
     public:
-        WCoordinateSystem(float scale = 1.0);
+        WCoordinateSystem(double scale = 1.0);
     };
 
 viz::WCoordinateSystem::WCoordinateSystem
 ---------------------------------------------------
 Constructs a WCoordinateSystem.
 
-.. ocv:function:: WCoordinateSystem(float scale = 1.0)
+.. ocv:function:: WCoordinateSystem(double scale = 1.0)
 
     :param scale: Determines the size of the axes.
 
@@ -463,7 +463,7 @@ This 3D Widget defines a grid. ::
         //! Creates grid at the origin
         WGrid(const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
         //! Creates grid based on the plane equation
-        WGrid(const Vec4f &coeffs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
+        WGrid(const Vec4d &coeffs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
     private:
         /* hidden */
     };
@@ -478,7 +478,7 @@ Constructs a WGrid.
     :param spacing: Size of each column and row, respectively.
     :param color: :ocv:class:`Color` of the grid.
 
-.. ocv:function:  WGrid(const Vec4f &coeffs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white())
+.. ocv:function:  WGrid(const Vec4d &coeffs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white())
 
     :param coeffs: Plane coefficients as in (A,B,C,D) where Ax + By + Cz + D = 0.
     :param dimensions: Number of columns and rows, respectively.
@@ -494,7 +494,7 @@ This 3D Widget represents 3D text. The text always faces the camera. ::
     class CV_EXPORTS WText3D : public Widget3D
     {
     public:
-        WText3D(const String &text, const Point3f &position, float text_scale = 1.0, bool face_camera = true, const Color &color = Color::white());
+        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;
@@ -504,7 +504,7 @@ viz::WText3D::WText3D
 -------------------------------
 Constructs a WText3D.
 
-.. ocv:function:: WText3D(const String &text, const Point3f &position, float text_scale = 1.0, bool face_camera = true, const Color &color = Color::white())
+.. 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.
@@ -609,7 +609,7 @@ This 3D Widget represents an image in 3D space. ::
         //! Creates 3D image at the origin
         WImage3D(const Mat &image, const Size &size);
         //! Creates 3D image at a given position, pointing in the direction of the normal, and having the up_vector orientation
-        WImage3D(const Vec3f &position, const Vec3f &normal, const Vec3f &up_vector, const Mat &image, const Size &size);
+        WImage3D(const Vec3d &position, const Vec3d &normal, const Vec3d &up_vector, const Mat &image, const Size &size);
 
         void setImage(const Mat &image);
     };
@@ -623,7 +623,7 @@ Constructs an WImage3D.
     :param image: BGR or Gray-Scale image.
     :param size: Size of the image.
 
-.. ocv:function:: WImage3D(const Vec3f &position, const Vec3f &normal, const Vec3f &up_vector, const Mat &image, const Size &size)
+.. ocv:function:: WImage3D(const Vec3d &position, const Vec3d &normal, const Vec3d &up_vector, const Mat &image, const Size &size)
 
     :param position: Position of the image.
     :param normal: Normal of the plane that represents the image.
@@ -649,15 +649,15 @@ This 3D Widget represents camera position in a scene by its axes or viewing frus
     {
     public:
         //! Creates camera coordinate frame (axes) at the origin
-        WCameraPosition(float scale = 1.0);
+        WCameraPosition(double scale = 1.0);
         //! Creates frustum based on the intrinsic marix K at the origin
-        WCameraPosition(const Matx33f &K, float scale = 1.0, const Color &color = Color::white());
+        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 Vec2f &fov, float scale = 1.0, const Color &color = Color::white());
+        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 Matx33f &K, const Mat &img, float scale = 1.0, const Color &color = Color::white());
+        WCameraPosition(const Matx33d &K, const Mat &img, double scale = 1.0, const Color &color = Color::white());
         //! Creates frustum and display given image at the far plane
-        WCameraPosition(const Vec2f &fov, const Mat &img, float scale = 1.0, const Color &color = Color::white());
+        WCameraPosition(const Vec2d &fov, const Mat &img, double scale = 1.0, const Color &color = Color::white());
     };
 
 viz::WCameraPosition::WCameraPosition
@@ -666,7 +666,7 @@ Constructs a WCameraPosition.
 
 - **Display camera coordinate frame.**
 
-    .. ocv:function:: WCameraPosition(float scale = 1.0)
+    .. ocv:function:: WCameraPosition(double scale = 1.0)
 
         Creates camera coordinate frame at the origin.
 
@@ -676,7 +676,7 @@ Constructs a WCameraPosition.
 
 - **Display the viewing frustum.**
 
-    .. ocv:function:: WCameraPosition(const Matx33f &K, float scale = 1.0, const Color &color = Color::white())
+    .. 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.
@@ -684,7 +684,7 @@ Constructs a WCameraPosition.
 
         Creates viewing frustum of the camera based on its intrinsic matrix K.
 
-    .. ocv:function:: WCameraPosition(const Vec2f &fov, float scale = 1.0, const Color &color = Color::white())
+    .. 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.
@@ -698,7 +698,7 @@ Constructs a WCameraPosition.
 
 - **Display image on the far plane of the viewing frustum.**
 
-    .. ocv:function:: WCameraPosition(const Matx33f &K, const Mat &img, float scale = 1.0, const Color &color = Color::white())
+    .. ocv:function:: WCameraPosition(const Matx33d &K, const Mat &img, double scale = 1.0, const Color &color = Color::white())
 
         :param K: Intrinsic matrix of the camera.
         :param img: BGR or Gray-Scale image that is going to be displayed on the far plane of the frustum.
@@ -707,7 +707,7 @@ Constructs a WCameraPosition.
 
         Creates viewing frustum of the camera based on its intrinsic matrix K, and displays image on the far end plane.
 
-    .. ocv:function:: WCameraPosition(const Vec2f &fov, const Mat &img, float scale = 1.0, const Color &color = Color::white())
+    .. ocv:function:: WCameraPosition(const Vec2d &fov, const Mat &img, 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.
@@ -732,14 +732,14 @@ This 3D Widget represents a trajectory. ::
         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, float scale = 1.f, const Color &color = Color::white(),;
+        WTrajectory(InputArray path, int display_mode = WTrajectory::PATH, double scale = 1.f, const Color &color = Color::white(),;
     };
 
 viz::WTrajectory::WTrajectory
 -----------------------------
 Constructs a WTrajectory.
 
-.. ocv:function:: WTrajectory(InputArray path, int display_mode = WTrajectory::PATH, float scale = 1.f, const Color &color = Color::white())
+.. ocv:function:: WTrajectory(InputArray path, int display_mode = WTrajectory::PATH, double scale = 1.f, 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.
@@ -762,16 +762,16 @@ This 3D Widget represents a trajectory. ::
     {
     public:
         //! Displays trajectory of the given path by frustums
-        WTrajectoryFrustums(const std::vector<Affine3d> &path, const Matx33f &K, float scale = 1.0, const Color &color = Color::white());
+        WTrajectoryFrustums(const std::vector<Affine3d> &path, const Matx33d &K, double scale = 1.0, const Color &color = Color::white());
         //! Displays trajectory of the given path by frustums
-        WTrajectoryFrustums(const std::vector<Affine3d> &path, const Vec2f &fov, float scale = 1.0, const Color &color = Color::white());
+        WTrajectoryFrustums(const std::vector<Affine3d> &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 Matx33f &K, float scale = 1.0, const Color &color = Color::white())
+.. 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.
     :param K: Intrinsic matrix of the camera.
@@ -780,7 +780,7 @@ Constructs a WTrajectoryFrustums.
 
     Displays frustums at each pose of the trajectory.
 
-.. ocv:function:: WTrajectoryFrustums(const std::vector<Affine3d> &path, const Vec2f &fov, float scale = 1.0, const Color &color = Color::white())
+.. 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.
     :param fov: Field of view of the camera (horizontal, vertical).
@@ -799,8 +799,8 @@ represent the direction from previous position to the current. ::
     class CV_EXPORTS WTrajectorySpheres : public Widget3D
     {
     public:
-        WTrajectorySpheres(const std::vector<Affine3d> &path, float line_length = 0.05f,
-                    float init_sphere_radius = 0.021, sphere_radius = 0.007,
+        WTrajectorySpheres(const std::vector<Affine3d> &path, double line_length = 0.05f,
+                    double init_sphere_radius = 0.021, sphere_radius = 0.007,
                     Color &line_color = Color::white(), const Color &sphere_color = Color::white());
     };
 
@@ -808,7 +808,7 @@ viz::WTrajectorySpheres::WTrajectorySpheres
 -------------------------------------------
 Constructs a WTrajectorySpheres.
 
-.. ocv:function:: WTrajectorySpheres(const std::vector<Affine3d> &path, float line_length = 0.05f, float init_sphere_radius = 0.021, float sphere_radius = 0.007, const Color &line_color = Color::white(), const Color &sphere_color = Color::white())
+.. ocv:function:: WTrajectorySpheres(const std::vector<Affine3d> &path, double line_length = 0.05f, double init_sphere_radius = 0.021, double sphere_radius = 0.007, const Color &line_color = Color::white(), const Color &sphere_color = Color::white())
 
     :param path: List of poses on a trajectory.
     :param line_length: Length of the lines.
@@ -912,7 +912,7 @@ This 3D Widget represents normals of a point cloud. ::
     class CV_EXPORTS WCloudNormals : public Widget3D
     {
     public:
-        WCloudNormals(InputArray cloud, InputArray normals, int level = 100, float scale = 0.02f, const Color &color = Color::white());
+        WCloudNormals(InputArray cloud, InputArray normals, int level = 100, double scale = 0.02f, const Color &color = Color::white());
 
     private:
         /* hidden */
@@ -922,7 +922,7 @@ viz::WCloudNormals::WCloudNormals
 ---------------------------------
 Constructs a WCloudNormals.
 
-.. ocv:function:: WCloudNormals(InputArray cloud, InputArray normals, int level = 100, float scale = 0.02f, const Color &color = Color::white())
+.. 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.
diff --git a/modules/viz/include/opencv2/viz/widgets.hpp b/modules/viz/include/opencv2/viz/widgets.hpp
index b48795290da86909a23d4b8145fbff7b4f039b6a..8fedb0c2c97616f5119b4639554fb95723683cde 100644
--- a/modules/viz/include/opencv2/viz/widgets.hpp
+++ b/modules/viz/include/opencv2/viz/widgets.hpp
@@ -135,44 +135,44 @@ namespace cv
         class CV_EXPORTS WLine : public Widget3D
         {
         public:
-            WLine(const Point3f &pt1, const Point3f &pt2, const Color &color = Color::white());
+            WLine(const Point3d &pt1, const Point3d &pt2, const Color &color = Color::white());
         };
 
         class CV_EXPORTS WPlane : public Widget3D
         {
         public:
-            WPlane(const Vec4f& coefs, float size = 1.f, const Color &color = Color::white());
-            WPlane(const Vec4f& coefs, const Point3f& pt, float size = 1.f, const Color &color = Color::white());
+            WPlane(const Vec4d& coefs, double size = 1.f, const Color &color = Color::white());
+            WPlane(const Vec4d& coefs, const Point3d& pt, double size = 1.f, const Color &color = Color::white());
         };
 
         class CV_EXPORTS WSphere : public Widget3D
         {
         public:
-            WSphere(const cv::Point3f &center, float radius, int sphere_resolution = 10, const Color &color = Color::white());
+            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 Point3f& pt1, const Point3f& pt2, float thickness = 0.03f, const Color &color = Color::white());
+            WArrow(const Point3d& pt1, const Point3d& pt2, double thickness = 0.03, const Color &color = Color::white());
         };
 
         class CV_EXPORTS WCircle : public Widget3D
         {
         public:
-            WCircle(const Point3f& pt, float radius, float thickness = 0.01f, const Color &color = Color::white());
+            WCircle(const Point3d& pt, double radius, double thickness = 0.01, const Color &color = Color::white());
         };
 
         class CV_EXPORTS WCylinder : public Widget3D
         {
         public:
-            WCylinder(const Point3f& pt_on_axis, const Point3f& axis_direction, float radius, int numsides = 30, const Color &color = Color::white());
+            WCylinder(const Point3d& pt_on_axis, const Point3d& axis_direction, double radius, int numsides = 30, const Color &color = Color::white());
         };
 
         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());
+            WCube(const Point3d& pt_min, const Point3d& pt_max, bool wire_frame = true, const Color &color = Color::white());
         };
 
         class CV_EXPORTS WPolyLine : public Widget3D
@@ -196,7 +196,7 @@ namespace cv
         class CV_EXPORTS WText3D : public Widget3D
         {
         public:
-            WText3D(const String &text, const Point3f &position, float text_scale = 1.f, bool face_camera = true, const Color &color = Color::white());
+            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;
@@ -216,7 +216,7 @@ namespace cv
             //! Creates 3D image at the origin
             WImage3D(const Mat &image, const Size &size);
             //! Creates 3D image at a given position, pointing in the direction of the normal, and having the up_vector orientation
-            WImage3D(const Vec3f &position, const Vec3f &normal, const Vec3f &up_vector, const Mat &image, const Size &size);
+            WImage3D(const Vec3d &position, const Vec3d &normal, const Vec3d &up_vector, const Mat &image, const Size &size);
 
             void setImage(const Mat &image);
         };
@@ -234,24 +234,24 @@ namespace cv
         {
         public:
             //! Creates grid at the origin
-            WGrid(const Vec2i &dimensions, const Vec2f &spacing, const Color &color = Color::white());
+            WGrid(const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
             //! Creates grid based on the plane equation
-            WGrid(const Vec4f &coeffs, const Vec2i &dimensions, const Vec2f &spacing, const Color &color = Color::white());
+            WGrid(const Vec4d &coeffs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
         };
 
         class CV_EXPORTS WCameraPosition : public Widget3D
         {
         public:
             //! Creates camera coordinate frame (axes) at the origin
-            WCameraPosition(float scale = 1.f);
+            WCameraPosition(double scale = 1.0);
             //! Creates frustum based on the intrinsic marix K at the origin
-            WCameraPosition(const Matx33f &K, float scale = 1.f, const Color &color = Color::white());
+            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 Vec2f &fov, float scale = 1.f, const Color &color = Color::white());
+            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 Matx33f &K, const Mat &img, float scale = 1.f, const Color &color = Color::white());
+            WCameraPosition(const Matx33d &K, const Mat &img, double scale = 1.0, const Color &color = Color::white());
             //! Creates frustum and display given image at the far plane
-            WCameraPosition(const Vec2f &fov, const Mat &img, float scale = 1.f, const Color &color = Color::white());
+            WCameraPosition(const Vec2d &fov, const Mat &img, double scale = 1.0, const Color &color = Color::white());
         };
 
         /////////////////////////////////////////////////////////////////////////////
@@ -270,16 +270,16 @@ namespace cv
         {
         public:
             //! Displays trajectory of the given path by frustums
-            WTrajectoryFrustums(const std::vector<Affine3d> &path, const Matx33f &K, float scale = 1.f, const Color &color = Color::white());
+            WTrajectoryFrustums(const std::vector<Affine3d> &path, const Matx33d &K, double scale = 1., const Color &color = Color::white());
             //! Displays trajectory of the given path by frustums
-            WTrajectoryFrustums(const std::vector<Affine3d> &path, const Vec2f &fov, float scale = 1.f, const Color &color = Color::white());
+            WTrajectoryFrustums(const std::vector<Affine3d> &path, const Vec2d &fov, double scale = 1., const Color &color = Color::white());
         };
 
         class CV_EXPORTS WTrajectorySpheres: public Widget3D
         {
         public:
-            WTrajectorySpheres(const std::vector<Affine3d> &path, float line_length = 0.05f, float init_sphere_radius = 0.021f,
-                float sphere_radius = 0.007f, const Color &line_color = Color::white(), const Color &sphere_color = Color::white());
+            WTrajectorySpheres(const std::vector<Affine3d> &path, double line_length = 0.05, double init_sphere_radius = 0.021,
+                double sphere_radius = 0.007, const Color &line_color = Color::white(), const Color &sphere_color = Color::white());
         };
 
         /////////////////////////////////////////////////////////////////////////////
@@ -308,7 +308,7 @@ namespace cv
         class CV_EXPORTS WCloudNormals : public Widget3D
         {
         public:
-            WCloudNormals(InputArray cloud, InputArray normals, int level = 64, float scale = 0.1f, const Color &color = Color::white());
+            WCloudNormals(InputArray cloud, InputArray normals, int level = 64, double scale = 0.1, const Color &color = Color::white());
         };
 
         class CV_EXPORTS WMesh : public Widget3D
diff --git a/modules/viz/src/clouds.cpp b/modules/viz/src/clouds.cpp
index 3c28624f31f39c3181c174303736f9ba507836ef..15e9d4a61639123842fd2d9880aa17c03fe3cbe4 100644
--- a/modules/viz/src/clouds.cpp
+++ b/modules/viz/src/clouds.cpp
@@ -175,7 +175,7 @@ template<> cv::viz::WCloudCollection cv::viz::Widget::cast<cv::viz::WCloudCollec
 ///////////////////////////////////////////////////////////////////////////////////////////////
 /// Cloud Normals Widget implementation
 
-cv::viz::WCloudNormals::WCloudNormals(InputArray _cloud, InputArray _normals, int level, float scale, const Color &color)
+cv::viz::WCloudNormals::WCloudNormals(InputArray _cloud, InputArray _normals, int level, double scale, const Color &color)
 {
     Mat cloud = _cloud.getMat();
     Mat normals = _normals.getMat();
@@ -207,7 +207,7 @@ cv::viz::WCloudNormals::WCloudNormals(InputArray _cloud, InputArray _normals, in
             for (; srow < send; srow += xstep * s_chs, nrow += xstep * n_chs)
                 if (!isNan(srow) && !isNan(nrow))
                 {
-                    Vec3f endp = Vec3f(srow) + Vec3f(nrow) * scale;
+                    Vec3f endp = Vec3f(srow) + Vec3f(nrow) * (float)scale;
 
                     points->InsertNextPoint(srow);
                     points->InsertNextPoint(endp.val);
diff --git a/modules/viz/src/shapes.cpp b/modules/viz/src/shapes.cpp
index b1ef3de5e0206652048b457c83f90f2265bf8885..8afe6495716ec7693596e787743861f7c1174390 100644
--- a/modules/viz/src/shapes.cpp
+++ b/modules/viz/src/shapes.cpp
@@ -55,7 +55,7 @@ namespace cv
 
 ///////////////////////////////////////////////////////////////////////////////////////////////
 /// line widget implementation
-cv::viz::WLine::WLine(const Point3f &pt1, const Point3f &pt2, const Color &color)
+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);
@@ -103,11 +103,11 @@ namespace cv { namespace viz { namespace
     };
 }}}
 
-cv::viz::WPlane::WPlane(const Vec4f& coefs, float size, const Color &color)
+cv::viz::WPlane::WPlane(const Vec4d& coefs, double size, const Color &color)
 {
     vtkSmartPointer<vtkPlaneSource> plane = vtkSmartPointer<vtkPlaneSource>::New();
     plane->SetNormal(coefs[0], coefs[1], coefs[2]);
-    double norm = cv::norm(Vec3f(coefs.val));
+    double norm = cv::norm(Vec3d(coefs.val));
     plane->Push(-coefs[3] / norm);
 
     Vec3d p_center;
@@ -123,15 +123,15 @@ cv::viz::WPlane::WPlane(const Vec4f& coefs, float size, const Color &color)
     setColor(color);
 }
 
-cv::viz::WPlane::WPlane(const Vec4f& coefs, const Point3f& pt, float size, const Color &color)
+cv::viz::WPlane::WPlane(const Vec4d& coefs, const Point3d& pt, double size, const Color &color)
 {
     vtkSmartPointer<vtkPlaneSource> plane = vtkSmartPointer<vtkPlaneSource>::New();
-    Point3f coefs3(coefs[0], coefs[1], coefs[2]);
+    Point3d coefs3(coefs[0], coefs[1], coefs[2]);
     double norm_sqr = 1.0 / coefs3.dot(coefs3);
     plane->SetNormal(coefs[0], coefs[1], coefs[2]);
 
     double t = coefs3.dot(pt) + coefs[3];
-    Vec3f p_center = pt - coefs3 * t * norm_sqr;
+    Vec3d p_center = pt - coefs3 * t * norm_sqr;
     plane->SetCenter(p_center[0], p_center[1], p_center[2]);
 
     vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
@@ -153,7 +153,7 @@ template<> cv::viz::WPlane cv::viz::Widget::cast<cv::viz::WPlane>()
 ///////////////////////////////////////////////////////////////////////////////////////////////
 /// sphere widget implementation
 
-cv::viz::WSphere::WSphere(const Point3f &center, float radius, int sphere_resolution, const Color &color)
+cv::viz::WSphere::WSphere(const Point3d &center, double radius, int sphere_resolution, const Color &color)
 {
     vtkSmartPointer<vtkSphereSource> sphere = vtkSmartPointer<vtkSphereSource>::New();
     sphere->SetRadius(radius);
@@ -181,7 +181,7 @@ template<> cv::viz::WSphere cv::viz::Widget::cast<cv::viz::WSphere>()
 ///////////////////////////////////////////////////////////////////////////////////////////////
 /// arrow widget implementation
 
-cv::viz::WArrow::WArrow(const Point3f& pt1, const Point3f& pt2, float thickness, const Color &color)
+cv::viz::WArrow::WArrow(const Point3d& pt1, const Point3d& pt2, double thickness, const Color &color)
 {
     vtkSmartPointer<vtkArrowSource> arrowSource = vtkSmartPointer<vtkArrowSource>::New();
     arrowSource->SetShaftRadius(thickness);
@@ -231,7 +231,7 @@ template<> cv::viz::WArrow cv::viz::Widget::cast<cv::viz::WArrow>()
 ///////////////////////////////////////////////////////////////////////////////////////////////
 /// circle widget implementation
 
-cv::viz::WCircle::WCircle(const Point3f& pt, float radius, float thickness, const Color& color)
+cv::viz::WCircle::WCircle(const Point3d& pt, double radius, double thickness, const Color& color)
 {
     vtkSmartPointer<vtkDiskSource> disk = vtkSmartPointer<vtkDiskSource>::New();
     // Maybe the resolution should be lower e.g. 50 or 25
@@ -267,9 +267,9 @@ template<> cv::viz::WCircle cv::viz::Widget::cast<cv::viz::WCircle>()
 ///////////////////////////////////////////////////////////////////////////////////////////////
 /// cylinder widget implementation
 
-cv::viz::WCylinder::WCylinder(const Point3f& pt_on_axis, const Point3f& axis_direction, float radius, int numsides, const Color &color)
+cv::viz::WCylinder::WCylinder(const Point3d& pt_on_axis, const Point3d& axis_direction, double radius, int numsides, const Color &color)
 {
-    const Point3f pt2 = pt_on_axis + axis_direction;
+    const Point3d pt2 = pt_on_axis + axis_direction;
     vtkSmartPointer<vtkLineSource> line = vtkSmartPointer<vtkLineSource>::New();
     line->SetPoint1(pt_on_axis.x, pt_on_axis.y, pt_on_axis.z);
     line->SetPoint2(pt2.x, pt2.y, pt2.z);
@@ -298,7 +298,7 @@ template<> cv::viz::WCylinder cv::viz::Widget::cast<cv::viz::WCylinder>()
 ///////////////////////////////////////////////////////////////////////////////////////////////
 /// cylinder widget implementation
 
-cv::viz::WCube::WCube(const Point3f& pt_min, const Point3f& pt_max, bool wire_frame, const Color &color)
+cv::viz::WCube::WCube(const Point3d& pt_min, const Point3d& pt_max, bool wire_frame, const Color &color)
 {
     vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
     if (wire_frame)
@@ -330,7 +330,7 @@ template<> cv::viz::WCube cv::viz::Widget::cast<cv::viz::WCube>()
 ///////////////////////////////////////////////////////////////////////////////////////////////
 /// coordinate system widget implementation
 
-cv::viz::WCoordinateSystem::WCoordinateSystem(float scale)
+cv::viz::WCoordinateSystem::WCoordinateSystem(double scale)
 {
     vtkSmartPointer<vtkAxes> axes = vtkSmartPointer<vtkAxes>::New();
     axes->SetOrigin(0, 0, 0);
@@ -461,7 +461,7 @@ namespace cv { namespace viz { namespace
     };
 }}}
 
-cv::viz::WGrid::WGrid(const Vec2i &dimensions, const Vec2f &spacing, const Color &color)
+cv::viz::WGrid::WGrid(const Vec2i &dimensions, const Vec2d &spacing, const Color &color)
 {
     vtkSmartPointer<vtkPolyData> grid = GridUtils::createGrid(dimensions, spacing);
 
@@ -479,14 +479,14 @@ cv::viz::WGrid::WGrid(const Vec2i &dimensions, const Vec2f &spacing, const Color
     setColor(color);
 }
 
-cv::viz::WGrid::WGrid(const Vec4f &coefs, const Vec2i &dimensions, const Vec2f &spacing, const Color &color)
+cv::viz::WGrid::WGrid(const Vec4d &coefs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color)
 {
     vtkSmartPointer<vtkPolyData> grid = GridUtils::createGrid(dimensions, spacing);
 
     // Estimate the transform to set the normal based on the coefficients
     Vec3d normal(coefs[0], coefs[1], coefs[2]);
     Vec3d up_vector(0.0, 1.0, 0.0); // Just set as default
-    double push_distance = -coefs[3]/cv::norm(Vec3f(coefs.val));
+    double push_distance = -coefs[3]/cv::norm(Vec3d(coefs.val));
     Vec3d n = normalize(normal);
     Vec3d u = normalize(up_vector.cross(n));
     Vec3d v = n.cross(u);
@@ -525,7 +525,7 @@ template<> cv::viz::WGrid cv::viz::Widget::cast<cv::viz::WGrid>()
 ///////////////////////////////////////////////////////////////////////////////////////////////
 /// text3D widget implementation
 
-cv::viz::WText3D::WText3D(const String &text, const Point3f &position, float text_scale, bool face_camera, const Color &color)
+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());
@@ -759,7 +759,7 @@ cv::viz::WImage3D::WImage3D(const Mat &image, const Size &size)
     WidgetAccessor::setProp(*this, actor);
 }
 
-cv::viz::WImage3D::WImage3D(const Vec3f &position, const Vec3f &normal, const Vec3f &up_vector, const Mat &image, const Size &size)
+cv::viz::WImage3D::WImage3D(const Vec3d &position, const Vec3d &normal, const Vec3d &up_vector, const Mat &image, const Size &size)
 {
     CV_Assert(!image.empty() && image.depth() == CV_8U);
 
@@ -857,7 +857,7 @@ namespace  cv  { namespace viz { namespace
 {
     struct CameraPositionUtils
     {
-        static void projectImage(float fovy, float far_end_height, const Mat &image,
+        static void projectImage(double fovy, double far_end_height, const Mat &image,
                                  double scale, const Color &color, vtkSmartPointer<vtkActor> actor)
         {
             // Create a camera
@@ -950,7 +950,7 @@ namespace  cv  { namespace viz { namespace
     };
 }}}
 
-cv::viz::WCameraPosition::WCameraPosition(float scale)
+cv::viz::WCameraPosition::WCameraPosition(double scale)
 {
     vtkSmartPointer<vtkAxes> axes = vtkSmartPointer<vtkAxes>::New();
     axes->SetOrigin(0, 0, 0);
@@ -992,20 +992,20 @@ cv::viz::WCameraPosition::WCameraPosition(float scale)
     WidgetAccessor::setProp(*this, actor);
 }
 
-cv::viz::WCameraPosition::WCameraPosition(const Matx33f &K, float scale, const Color &color)
+cv::viz::WCameraPosition::WCameraPosition(const Matx33d &K, double scale, const Color &color)
 {
     vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New();
-    float f_x = K(0,0);
-    float f_y = K(1,1);
-    float c_y = K(1,2);
-    float aspect_ratio = f_y / f_x;
+    double f_x = K(0,0);
+    double f_y = K(1,1);
+    double c_y = K(1,2);
+    double aspect_ratio = f_y / f_x;
     // Assuming that this is an ideal camera (c_y and c_x are at the center of the image)
-    float fovy = 2.0f * atan2(c_y,f_y) * 180 / CV_PI;
+    double fovy = 2.0 * atan2(c_y,f_y) * 180 / CV_PI;
 
     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->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(0.01, scale);
 
     double planesArray[24];
@@ -1014,8 +1014,7 @@ cv::viz::WCameraPosition::WCameraPosition(const Matx33f &K, float scale, const C
     vtkSmartPointer<vtkPlanes> planes = vtkSmartPointer<vtkPlanes>::New();
     planes->SetFrustumPlanes(planesArray);
 
-    vtkSmartPointer<vtkFrustumSource> frustumSource =
-    vtkSmartPointer<vtkFrustumSource>::New();
+    vtkSmartPointer<vtkFrustumSource> frustumSource = vtkSmartPointer<vtkFrustumSource>::New();
     frustumSource->SetPlanes(planes);
     frustumSource->Update();
 
@@ -1034,14 +1033,14 @@ cv::viz::WCameraPosition::WCameraPosition(const Matx33f &K, float scale, const C
 }
 
 
-cv::viz::WCameraPosition::WCameraPosition(const Vec2f &fov, float scale, const Color &color)
+cv::viz::WCameraPosition::WCameraPosition(const Vec2d &fov, double scale, const Color &color)
 {
     vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New();
 
     camera->SetViewAngle(fov[1] * 180 / CV_PI); // Vertical field of view
-    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->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(0.01, scale);
 
     double aspect_ratio = tan(fov[0] * 0.5) / tan(fov[1] * 0.5);
@@ -1072,25 +1071,25 @@ cv::viz::WCameraPosition::WCameraPosition(const Vec2f &fov, float scale, const C
     setColor(color);
 }
 
-cv::viz::WCameraPosition::WCameraPosition(const Matx33f &K, const Mat &image, float scale, const Color &color)
+cv::viz::WCameraPosition::WCameraPosition(const Matx33d &K, const Mat &image, double scale, const Color &color)
 {
     CV_Assert(!image.empty() && image.depth() == CV_8U);
-    float f_y = K(1,1);
-    float c_y = K(1,2);
+    double f_y = K(1,1);
+    double c_y = K(1,2);
     // Assuming that this is an ideal camera (c_y and c_x are at the center of the image)
-    float fovy = 2.0f * atan2(c_y,f_y) * 180.0f / CV_PI;
-    float far_end_height = 2.0f * c_y * scale / f_y;
+    double fovy = 2.0 * atan2(c_y,f_y) * 180.0 / CV_PI;
+    double far_end_height = 2.0f * c_y * scale / f_y;
 
     vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
     CameraPositionUtils::projectImage(fovy, far_end_height, image, scale, color, actor);
     WidgetAccessor::setProp(*this, actor);
 }
 
-cv::viz::WCameraPosition::WCameraPosition(const Vec2f &fov, const Mat &image, float scale, const Color &color)
+cv::viz::WCameraPosition::WCameraPosition(const Vec2d &fov, const Mat &image, double scale, const Color &color)
 {
     CV_Assert(!image.empty() && image.depth() == CV_8U);
-    float fovy = fov[1] * 180.0f / CV_PI;
-    float far_end_height = 2.0 * scale * tan(fov[1] * 0.5);
+    double fovy = fov[1] * 180.0 / CV_PI;
+    double far_end_height = 2.0 * scale * tan(fov[1] * 0.5);
 
     vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
     CameraPositionUtils::projectImage(fovy, far_end_height, image, scale, color, actor);
@@ -1141,7 +1140,7 @@ namespace cv { namespace viz { namespace
     };
 }}}
 
-cv::viz::WTrajectory::WTrajectory(InputArray _path, int display_mode, float scale, const Color &color)
+cv::viz::WTrajectory::WTrajectory(InputArray _path, int display_mode, double scale, const Color &color)
 {
     CV_Assert(_path.kind() == _InputArray::STD_VECTOR || _path.kind() == _InputArray::MAT);
     CV_Assert(_path.type() == CV_32FC(16) || _path.type() == CV_64FC(16));
@@ -1259,15 +1258,15 @@ template<> cv::viz::WTrajectory cv::viz::Widget::cast<cv::viz::WTrajectory>()
 ///////////////////////////////////////////////////////////////////////////////////////////////
 /// WTrajectoryFrustums widget implementation
 
-cv::viz::WTrajectoryFrustums::WTrajectoryFrustums(const std::vector<Affine3d> &path, const Matx33f &K, float scale, const Color &color)
+cv::viz::WTrajectoryFrustums::WTrajectoryFrustums(const std::vector<Affine3d> &path, const Matx33d &K, double scale, const Color &color)
 {
     vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New();
-    float f_x = K(0,0);
-    float f_y = K(1,1);
-    float c_y = K(1,2);
-    float aspect_ratio = f_y / f_x;
+    double f_x = K(0,0);
+    double f_y = K(1,1);
+    double c_y = K(1,2);
+    double aspect_ratio = f_y / f_x;
     // Assuming that this is an ideal camera (c_y and c_x are at the center of the image)
-    float fovy = 2.0f * atan2(c_y,f_y) * 180 / CV_PI;
+    double fovy = 2.0 * atan2(c_y,f_y) * 180 / CV_PI;
 
     camera->SetViewAngle(fovy);
     camera->SetPosition(0.0,0.0,0.0);
@@ -1303,14 +1302,14 @@ cv::viz::WTrajectoryFrustums::WTrajectoryFrustums(const std::vector<Affine3d> &p
     setColor(color);
 }
 
-cv::viz::WTrajectoryFrustums::WTrajectoryFrustums(const std::vector<Affine3d> &path, const Vec2f &fov, float scale, const Color &color)
+cv::viz::WTrajectoryFrustums::WTrajectoryFrustums(const std::vector<Affine3d> &path, const Vec2d &fov, double scale, const Color &color)
 {
     vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New();
 
     camera->SetViewAngle(fov[1] * 180 / CV_PI); // Vertical field of view
-    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->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(0.01, scale);
 
     double aspect_ratio = tan(fov[0] * 0.5) / tan(fov[1] * 0.5);
@@ -1352,7 +1351,7 @@ template<> cv::viz::WTrajectoryFrustums cv::viz::Widget::cast<cv::viz::WTrajecto
 ///////////////////////////////////////////////////////////////////////////////////////////////
 /// WTrajectorySpheres widget implementation
 
-cv::viz::WTrajectorySpheres::WTrajectorySpheres(const std::vector<Affine3d> &path, float line_length, float init_sphere_radius, float sphere_radius,
+cv::viz::WTrajectorySpheres::WTrajectorySpheres(const std::vector<Affine3d> &path, double line_length, double init_sphere_radius, double sphere_radius,
                                                           const Color &line_color, const Color &sphere_color)
 {
     vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New();