diff --git a/modules/viz/doc/viz3d.rst b/modules/viz/doc/viz3d.rst
index 63c5ac34c5..ad1356e587 100644
--- a/modules/viz/doc/viz3d.rst
+++ b/modules/viz/doc/viz3d.rst
@@ -13,7 +13,7 @@ viz::makeTransformToGlobal
 --------------------------
 Takes coordinate frame data and builds transform to global coordinate frame.
 
-.. ocv:function:: Affine3f viz::makeTransformToGlobal(const Vec3f& axis_x, const Vec3f& axis_y, const Vec3f& axis_z, const Vec3f& origin = Vec3f::all(0))
+.. 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.
@@ -26,7 +26,7 @@ viz::makeCameraPose
 -------------------
 Constructs camera pose from position, focal_point and up_vector (see gluLookAt() for more infromation).
 
-.. ocv:function:: Affine3f makeCameraPose(const Vec3f& position, const Vec3f& focal_point, const Vec3f& y_dir)
+.. 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.
@@ -94,19 +94,19 @@ The Viz3d class represents a 3D visualizer window. This class is implicitly shar
         Viz3d& operator=(const Viz3d&);
         ~Viz3d();
 
-        void showWidget(const String &id, const Widget &widget, const Affine3f &pose = Affine3f::Identity());
+        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 Affine3f &pose);
-        void updateWidgetPose(const String &id, const Affine3f &pose);
-        Affine3f getWidgetPose(const String &id) const;
+        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;
-        Affine3f getViewerPose();
-        void setViewerPose(const Affine3f &pose);
+        Affine3d getViewerPose();
+        void setViewerPose(const Affine3d &pose);
 
         void resetCameraViewpoint (const String &id);
         void resetCamera();
@@ -152,7 +152,7 @@ viz::Viz3d::showWidget
 ----------------------
 Shows a widget in the window.
 
-.. ocv:function:: void Viz3d::showWidget(const String &id, const Widget &widget, const Affine3f &pose = Affine3f::Identity())
+.. 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.
@@ -186,7 +186,7 @@ viz::Viz3d::setWidgetPose
 -------------------------
 Sets pose of a widget in the window.
 
-.. ocv:function:: void setWidgetPose(const String &id, const Affine3f &pose)
+.. 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.
@@ -195,7 +195,7 @@ 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 Affine3f &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.
@@ -204,7 +204,7 @@ viz::Viz3d::getWidgetPose
 -------------------------
 Returns the current pose of a widget in the window.
 
-.. ocv:function:: Affine3f getWidgetPose(const String &id) const
+.. ocv:function:: Affine3d getWidgetPose(const String &id) const
 
     :param id: The id of the widget whose pose will be returned.
 
@@ -226,13 +226,13 @@ viz::Viz3d::getViewerPose
 -------------------------
 Returns the current pose of the viewer.
 
-..ocv:function:: Affine3f getViewerPose()
+..ocv:function:: Affine3d getViewerPose()
 
 viz::Viz3d::setViewerPose
 -------------------------
 Sets pose of the viewer.
 
-.. ocv:function:: void setViewerPose(const Affine3f &pose)
+.. ocv:function:: void setViewerPose(const Affine3d &pose)
 
     :param pose: The new pose of the viewer.
 
diff --git a/modules/viz/doc/widget.rst b/modules/viz/doc/widget.rst
index a629b7bc91..c420799640 100644
--- a/modules/viz/doc/widget.rst
+++ b/modules/viz/doc/widget.rst
@@ -170,9 +170,9 @@ Base class of all 3D widgets. ::
     public:
         Widget3D() {}
 
-        void setPose(const Affine3f &pose);
-        void updatePose(const Affine3f &pose);
-        Affine3f getPose() const;
+        void setPose(const Affine3d &pose);
+        void updatePose(const Affine3d &pose);
+        Affine3d getPose() const;
 
         void setColor(const Color &color);
     private:
@@ -183,7 +183,7 @@ viz::Widget3D::setPose
 ----------------------
 Sets pose of the widget.
 
-.. ocv:function:: void setPose(const Affine3f &pose)
+.. ocv:function:: void setPose(const Affine3d &pose)
 
     :param pose: The new pose of the widget.
 
@@ -191,7 +191,7 @@ viz::Widget3D::updateWidgetPose
 -------------------------------
 Updates pose of the widget by pre-multiplying its current pose.
 
-.. ocv:function:: void updateWidgetPose(const Affine3f &pose)
+.. ocv:function:: void updateWidgetPose(const Affine3d &pose)
 
     :param pose: The pose that the current pose of the widget will be pre-multiplied by.
 
@@ -199,7 +199,7 @@ viz::Widget3D::getPose
 ----------------------
 Returns the current pose of the widget.
 
-.. ocv:function:: Affine3f getWidgetPose() const
+.. ocv:function:: Affine3d getWidgetPose() const
 
 viz::Widget3D::setColor
 -----------------------
@@ -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(const std::vector<Affine3f> &path, int display_mode = WTrajectory::PATH, float scale = 1.f, const Color &color = Color::white(),;
+        WTrajectory(const std::vector<Affine3d> &path, int display_mode = WTrajectory::PATH, float scale = 1.f, const Color &color = Color::white(),;
     };
 
 viz::WTrajectory::WTrajectory
 -----------------------------
 Constructs a WTrajectory.
 
-.. ocv:function:: WTrajectory(const std::vector<Affine3f> &path, int display_mode = WTrajectory::PATH, float scale = 1.f, const Color &color = Color::white())
+.. ocv:function:: WTrajectory(const std::vector<Affine3d> &path, int display_mode = WTrajectory::PATH, float scale = 1.f, const Color &color = Color::white())
 
     :param path: List of poses on a trajectory.
     :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<Affine3f> &path, const Matx33f &K, float scale = 1.0, const Color &color = Color::white());
+        WTrajectoryFrustums(const std::vector<Affine3d> &path, const Matx33f &K, float scale = 1.0, const Color &color = Color::white());
         //! Displays trajectory of the given path by frustums
-        WTrajectoryFrustums(const std::vector<Affine3f> &path, const Vec2f &fov, float scale = 1.0, const Color &color = Color::white());
+        WTrajectoryFrustums(const std::vector<Affine3d> &path, const Vec2f &fov, float scale = 1.0, const Color &color = Color::white());
     };
 
 viz::WTrajectoryFrustums::WTrajectoryFrustums
 -----------------------------
 Constructs a WTrajectoryFrustums.
 
-.. ocv:function:: WTrajectoryFrustums(const std::vector<Affine3f> &path, const Matx33f &K, float scale = 1.0, const Color &color = Color::white())
+.. ocv:function:: WTrajectoryFrustums(const std::vector<Affine3d> &path, const Matx33f &K, float scale = 1.0, const Color &color = Color::white())
 
     :param path: List of poses on a trajectory.
     :param K: Intrinsic matrix of the camera.
@@ -780,7 +780,7 @@ Constructs a WTrajectoryFrustums.
 
     Displays frustums at each pose of the trajectory.
 
-.. ocv:function:: WTrajectoryFrustums(const std::vector<Affine3f> &path, const Vec2f &fov, float scale = 1.0, const Color &color = Color::white())
+.. ocv:function:: WTrajectoryFrustums(const std::vector<Affine3d> &path, const Vec2f &fov, float scale = 1.0, const Color &color = Color::white())
 
     :param path: List of poses on a trajectory.
     :param fov: Field of view of the camera (horizontal, vertical).
@@ -799,7 +799,7 @@ represent the direction from previous position to the current. ::
     class CV_EXPORTS WTrajectorySpheres : public Widget3D
     {
     public:
-        WTrajectorySpheres(const std::vector<Affine3f> &path, float line_length = 0.05f,
+        WTrajectorySpheres(const std::vector<Affine3d> &path, float line_length = 0.05f,
                     float 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<Affine3f> &path, float line_length = 0.05f, float init_sphere_radius = 0.021, float sphere_radius = 0.007, const Color &line_color = Color::white(), const Color &sphere_color = Color::white())
+.. 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())
 
     :param path: List of poses on a trajectory.
     :param line_length: Length of the lines.
@@ -867,9 +867,9 @@ This 3D Widget defines a collection of clouds. ::
         WCloudCollection();
 
         //! Each point in cloud is mapped to a color in colors
-        void addCloud(InputArray cloud, InputArray colors, const Affine3f &pose = Affine3f::Identity());
+        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(), Affine3f &pose = Affine3f::Identity());
+        void addCloud(InputArray cloud, const Color &color = Color::white(), Affine3d &pose = Affine3d::Identity());
 
     private:
         /* hidden */
@@ -885,7 +885,7 @@ viz::WCloudCollection::addCloud
 -------------------------------
 Adds a cloud to the collection.
 
-.. ocv:function:: void addCloud(InputArray cloud, InputArray colors, const Affine3f &pose = Affine3f::Identity())
+.. 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.
@@ -893,7 +893,7 @@ Adds a cloud to the collection.
 
     Points in the cloud belong to mask when they are set to (NaN, NaN, NaN).
 
-.. ocv:function:: void addCloud(InputArray cloud, const Color &color = Color::white(), const Affine3f &pose = Affine3f::Identity())
+.. 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.
diff --git a/modules/viz/include/opencv2/viz.hpp b/modules/viz/include/opencv2/viz.hpp
index cb399a8eb5..2724e921d2 100644
--- a/modules/viz/include/opencv2/viz.hpp
+++ b/modules/viz/include/opencv2/viz.hpp
@@ -58,10 +58,10 @@ namespace cv
     namespace viz
     {
         //! takes coordiante frame data and builds transfrom to global coordinate frame
-        CV_EXPORTS Affine3f makeTransformToGlobal(const Vec3f& axis_x, const Vec3f& axis_y, const Vec3f& axis_z, const Vec3f& origin = Vec3f::all(0));
+        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 Affine3f makeCameraPose(const Vec3f& position, const Vec3f& focal_point, const Vec3f& y_dir);
+        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 get(const String &window_name);
@@ -101,10 +101,7 @@ namespace cv
         ///////////////////////////////////////////////////////////////////////////////////////////////
         /// Read/write poses and trajectories
 
-        CV_EXPORTS bool readPose(const String& file, Affine3f& pose, const String& tag = "pose");
         CV_EXPORTS bool readPose(const String& file, Affine3d& pose, const String& tag = "pose");
-
-        CV_EXPORTS void writePose(const String& file, const Affine3f& pose, const String& tag = "pose");
         CV_EXPORTS void writePose(const String& file, const Affine3d& pose, const String& tag = "pose");
 
         CV_EXPORTS void writeTrajectory(const std::vector<Affine3f>& traj, const String& files_format = "pose%05d.xml", int start = 0, const String& tag = "pose");
diff --git a/modules/viz/include/opencv2/viz/viz3d.hpp b/modules/viz/include/opencv2/viz/viz3d.hpp
index 1b31b2447f..7cd27eb616 100644
--- a/modules/viz/include/opencv2/viz/viz3d.hpp
+++ b/modules/viz/include/opencv2/viz/viz3d.hpp
@@ -70,19 +70,19 @@ namespace cv
             Viz3d& operator=(const Viz3d&);
             ~Viz3d();
 
-            void showWidget(const String &id, const Widget &widget, const Affine3f &pose = Affine3f::Identity());
+            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 Affine3f &pose);
-            void updateWidgetPose(const String &id, const Affine3f &pose);
-            Affine3f getWidgetPose(const String &id) const;
+            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;
-            Affine3f getViewerPose();
-            void setViewerPose(const Affine3f &pose);
+            Affine3d getViewerPose();
+            void setViewerPose(const Affine3d &pose);
 
             void resetCameraViewpoint(const String &id);
             void resetCamera();
diff --git a/modules/viz/include/opencv2/viz/widgets.hpp b/modules/viz/include/opencv2/viz/widgets.hpp
index 5ca06800b3..28a2acb0de 100644
--- a/modules/viz/include/opencv2/viz/widgets.hpp
+++ b/modules/viz/include/opencv2/viz/widgets.hpp
@@ -111,9 +111,9 @@ namespace cv
         public:
             Widget3D() {}
 
-            void setPose(const Affine3f &pose);
-            void updatePose(const Affine3f &pose);
-            Affine3f getPose() const;
+            void setPose(const Affine3d &pose);
+            void updatePose(const Affine3d &pose);
+            Affine3d getPose() const;
 
             void setColor(const Color &color);
 
@@ -264,21 +264,22 @@ namespace cv
 
             //! Displays trajectory of the given path either by coordinate frames or polyline
             WTrajectory(const std::vector<Affine3f> &path, int display_mode = WTrajectory::PATH, float scale = 1.f, const Color &color = Color::white());
+            WTrajectory(const std::vector<Affine3d> &path, int display_mode = WTrajectory::PATH, float scale = 1.f, const Color &color = Color::white());
         };
 
         class CV_EXPORTS WTrajectoryFrustums : public Widget3D
         {
         public:
             //! Displays trajectory of the given path by frustums
-            WTrajectoryFrustums(const std::vector<Affine3f> &path, const Matx33f &K, float scale = 1.f, const Color &color = Color::white());
+            WTrajectoryFrustums(const std::vector<Affine3d> &path, const Matx33f &K, float scale = 1.f, const Color &color = Color::white());
             //! Displays trajectory of the given path by frustums
-            WTrajectoryFrustums(const std::vector<Affine3f> &path, const Vec2f &fov, float scale = 1.f, const Color &color = Color::white());
+            WTrajectoryFrustums(const std::vector<Affine3d> &path, const Vec2f &fov, float scale = 1.f, const Color &color = Color::white());
         };
 
         class CV_EXPORTS WTrajectorySpheres: public Widget3D
         {
         public:
-            WTrajectorySpheres(const std::vector<Affine3f> &path, float line_length = 0.05f, float init_sphere_radius = 0.021f,
+            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());
         };
 
@@ -300,9 +301,9 @@ namespace cv
             WCloudCollection();
 
             //! Each point in cloud is mapped to a color in colors
-            void addCloud(InputArray cloud, InputArray colors, const Affine3f &pose = Affine3f::Identity());
+            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 Affine3f &pose = Affine3f::Identity());
+            void addCloud(InputArray cloud, const Color &color = Color::white(), const Affine3d &pose = Affine3d::Identity());
         };
 
         class CV_EXPORTS WCloudNormals : public Widget3D
diff --git a/modules/viz/src/clouds.cpp b/modules/viz/src/clouds.cpp
index 4746bc2e5d..16f274cf2d 100644
--- a/modules/viz/src/clouds.cpp
+++ b/modules/viz/src/clouds.cpp
@@ -250,7 +250,7 @@ cv::viz::WCloudCollection::WCloudCollection()
     WidgetAccessor::setProp(*this, actor);
 }
 
-void cv::viz::WCloudCollection::addCloud(InputArray _cloud, InputArray _colors, const Affine3f &pose)
+void cv::viz::WCloudCollection::addCloud(InputArray _cloud, InputArray _colors, const Affine3d &pose)
 {
     Mat cloud = _cloud.getMat();
     Mat colors = _colors.getMat();
@@ -292,7 +292,7 @@ void cv::viz::WCloudCollection::addCloud(InputArray _cloud, InputArray _colors,
     CloudCollectionUtils::createMapper(actor, transform_filter->GetOutput());
 }
 
-void cv::viz::WCloudCollection::addCloud(InputArray _cloud, const Color &color, const Affine3f &pose)
+void cv::viz::WCloudCollection::addCloud(InputArray _cloud, const Color &color, const Affine3d &pose)
 {
     Mat cloud = _cloud.getMat();
     CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4);
diff --git a/modules/viz/src/shapes.cpp b/modules/viz/src/shapes.cpp
index e9102b7284..7da4063f70 100644
--- a/modules/viz/src/shapes.cpp
+++ b/modules/viz/src/shapes.cpp
@@ -1182,7 +1182,7 @@ namespace cv { namespace viz { namespace
 {
     struct TrajectoryUtils
     {
-        static void applyPath(vtkSmartPointer<vtkPolyData> poly_data, vtkSmartPointer<vtkAppendPolyData> append_filter, const std::vector<Affine3f> &path)
+        static void applyPath(vtkSmartPointer<vtkPolyData> poly_data, vtkSmartPointer<vtkAppendPolyData> append_filter, const std::vector<Affine3d> &path)
         {
             vtkIdType nr_points = path.size();
 
@@ -1213,7 +1213,105 @@ namespace cv { namespace viz { namespace
     };
 }}}
 
-cv::viz::WTrajectory::WTrajectory(const std::vector<Affine3f> &path, int display_mode, float scale, const Color &color)
+cv::viz::WTrajectory::WTrajectory(const std::vector<Affine3f> &_path, int display_mode, float scale, const Color &color)
+{
+    std::vector<Affine3d> path(_path.begin(), _path.end());
+
+    vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New();
+
+    // Bitwise and with 3 in order to limit the domain to 2 bits
+    if ((~display_mode & 3) ^ WTrajectory::PATH)
+    {
+        // Create a poly line along the path
+        vtkIdType nr_points = path.size();
+
+        vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
+        points->SetDataTypeToFloat();
+        points->SetNumberOfPoints(nr_points);
+
+        vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New();
+        vtkSmartPointer<vtkPolyLine> polyLine = vtkSmartPointer<vtkPolyLine>::New();
+        polyLine->GetPointIds()->SetNumberOfIds(nr_points);
+
+        Vec3f *data_beg = vtkpoints_data<float>(points);
+
+        for (vtkIdType i = 0; i < nr_points; ++i)
+        {
+            Vec3f cam_pose = path[i].translation();
+            *data_beg++ = cam_pose;
+            polyLine->GetPointIds()->SetId(i,i);
+        }
+
+        vtkSmartPointer<vtkCellArray> cells = vtkSmartPointer<vtkCellArray>::New();
+        cells->InsertNextCell(polyLine);
+
+        polyData->SetPoints(points);
+        polyData->SetLines(cells);
+
+        // Set the color for polyData
+        vtkSmartPointer<vtkUnsignedCharArray> colors = vtkSmartPointer<vtkUnsignedCharArray>::New();
+        colors->SetNumberOfComponents(3);
+        colors->SetNumberOfTuples(nr_points);
+        colors->FillComponent(0, color[2]);
+        colors->FillComponent(1, color[1]);
+        colors->FillComponent(2, color[0]);
+
+        polyData->GetPointData()->SetScalars(colors);
+#if VTK_MAJOR_VERSION <= 5
+        appendFilter->AddInputConnection(polyData->GetProducerPort());
+#else
+        appendFilter->AddInputData(polyData);
+#endif
+    }
+
+    if ((~display_mode & 3) ^ WTrajectory::FRAMES)
+    {
+        // Create frames and transform along the path
+        vtkSmartPointer<vtkAxes> axes = vtkSmartPointer<vtkAxes>::New();
+        axes->SetOrigin(0, 0, 0);
+        axes->SetScaleFactor(scale);
+
+        vtkSmartPointer<vtkUnsignedCharArray> axes_colors = vtkSmartPointer<vtkUnsignedCharArray>::New();
+        axes_colors->SetNumberOfComponents(3);
+        axes_colors->InsertNextTuple3(255,0,0);
+        axes_colors->InsertNextTuple3(255,0,0);
+        axes_colors->InsertNextTuple3(0,255,0);
+        axes_colors->InsertNextTuple3(0,255,0);
+        axes_colors->InsertNextTuple3(0,0,255);
+        axes_colors->InsertNextTuple3(0,0,255);
+
+        vtkSmartPointer<vtkPolyData> axes_data = axes->GetOutput();
+#if VTK_MAJOR_VERSION <= 5
+        axes_data->Update();
+#else
+        axes->Update();
+#endif
+        axes_data->GetPointData()->SetScalars(axes_colors);
+
+        vtkSmartPointer<vtkTubeFilter> axes_tubes = vtkSmartPointer<vtkTubeFilter>::New();
+#if VTK_MAJOR_VERSION <= 5
+        axes_tubes->SetInput(axes_data);
+#else
+        axes_tubes->SetInputData(axes_data);
+#endif
+        axes_tubes->SetRadius(axes->GetScaleFactor() / 50.0);
+        axes_tubes->SetNumberOfSides(6);
+        axes_tubes->Update();
+
+        TrajectoryUtils::applyPath(axes_tubes->GetOutput(), appendFilter, path);
+    }
+
+    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
+    mapper->SetScalarModeToUsePointData();
+    mapper->SetInputConnection(appendFilter->GetOutputPort());
+
+    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
+    actor->SetMapper(mapper);
+
+    WidgetAccessor::setProp(*this, actor);
+}
+
+cv::viz::WTrajectory::WTrajectory(const std::vector<Affine3d> &path, int display_mode, float scale, const Color &color)
 {
     vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New();
 
@@ -1318,7 +1416,7 @@ template<> cv::viz::WTrajectory cv::viz::Widget::cast<cv::viz::WTrajectory>()
 ///////////////////////////////////////////////////////////////////////////////////////////////
 /// WTrajectoryFrustums widget implementation
 
-cv::viz::WTrajectoryFrustums::WTrajectoryFrustums(const std::vector<Affine3f> &path, const Matx33f &K, float scale, const Color &color)
+cv::viz::WTrajectoryFrustums::WTrajectoryFrustums(const std::vector<Affine3d> &path, const Matx33f &K, float scale, const Color &color)
 {
     vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New();
     float f_x = K(0,0);
@@ -1362,7 +1460,7 @@ cv::viz::WTrajectoryFrustums::WTrajectoryFrustums(const std::vector<Affine3f> &p
     setColor(color);
 }
 
-cv::viz::WTrajectoryFrustums::WTrajectoryFrustums(const std::vector<Affine3f> &path, const Vec2f &fov, float scale, const Color &color)
+cv::viz::WTrajectoryFrustums::WTrajectoryFrustums(const std::vector<Affine3d> &path, const Vec2f &fov, float scale, const Color &color)
 {
     vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New();
 
@@ -1411,7 +1509,7 @@ template<> cv::viz::WTrajectoryFrustums cv::viz::Widget::cast<cv::viz::WTrajecto
 ///////////////////////////////////////////////////////////////////////////////////////////////
 /// WTrajectorySpheres widget implementation
 
-cv::viz::WTrajectorySpheres::WTrajectorySpheres(const std::vector<Affine3f> &path, float line_length, float init_sphere_radius, float sphere_radius,
+cv::viz::WTrajectorySpheres::WTrajectorySpheres(const std::vector<Affine3d> &path, float line_length, float init_sphere_radius, float sphere_radius,
                                                           const Color &line_color, const Color &sphere_color)
 {
     vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New();
@@ -1469,8 +1567,8 @@ cv::viz::WTrajectorySpheres::WTrajectorySpheres(const std::vector<Affine3f> &pat
         }
 
 
-        Affine3f relativeAffine = path[i].inv() * path[i-1];
-        Vec3f v = path[i].rotation() * relativeAffine.translation();
+        Affine3d relativeAffine = path[i].inv() * path[i-1];
+        Vec3d v = path[i].rotation() * relativeAffine.translation();
         v = normalize(v) * line_length;
 
         vtkSmartPointer<vtkLineSource> line_source = vtkSmartPointer<vtkLineSource>::New();
diff --git a/modules/viz/src/viz3d.cpp b/modules/viz/src/viz3d.cpp
index 0f21e08cc7..33d851d642 100644
--- a/modules/viz/src/viz3d.cpp
+++ b/modules/viz/src/viz3d.cpp
@@ -108,18 +108,18 @@ void cv::viz::Viz3d::registerKeyboardCallback(KeyboardCallback callback, void* c
 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 Affine3f &pose) { impl_->showWidget(id, widget, pose); }
+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::setWidgetPose(const String &id, const Affine3f &pose) { impl_->setWidgetPose(id, pose); }
-void cv::viz::Viz3d::updateWidgetPose(const String &id, const Affine3f &pose) { impl_->updateWidgetPose(id, pose); }
-cv::Affine3f cv::viz::Viz3d::getWidgetPose(const String &id) const { return impl_->getWidgetPose(id); }
+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 Affine3f &pose) { impl_->setViewerPose(pose); }
-cv::Affine3f cv::viz::Viz3d::getViewerPose() { return impl_->getViewerPose(); }
+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(); }
diff --git a/modules/viz/src/vizcore.cpp b/modules/viz/src/vizcore.cpp
index 5029756c27..c26b04301e 100644
--- a/modules/viz/src/vizcore.cpp
+++ b/modules/viz/src/vizcore.cpp
@@ -45,21 +45,21 @@
 
 #include "precomp.hpp"
 
-cv::Affine3f cv::viz::makeTransformToGlobal(const Vec3f& axis_x, const Vec3f& axis_y, const Vec3f& axis_z, const Vec3f& origin)
+cv::Affine3d cv::viz::makeTransformToGlobal(const Vec3d& axis_x, const Vec3d& axis_y, const Vec3d& axis_z, const Vec3d& origin)
 {
-    Affine3f::Mat3 R(axis_x[0], axis_y[0], axis_z[0],
+    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 Affine3f(R, origin);
+    return Affine3d(R, origin);
 }
 
-cv::Affine3f cv::viz::makeCameraPose(const Vec3f& position, const Vec3f& focal_point, const Vec3f& y_dir)
+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
-    Vec3f n = normalize(focal_point - position);
-    Vec3f u = normalize(y_dir.cross(n));
-    Vec3f v = n.cross(u);
+    Vec3d n = normalize(focal_point - position);
+    Vec3d u = normalize(y_dir.cross(n));
+    Vec3d v = n.cross(u);
 
     return makeTransformToGlobal(u, v, n, position);
 }
@@ -240,27 +240,29 @@ cv::Mat cv::viz::readCloud(const String& file, OutputArray colors, OutputArray n
 ///////////////////////////////////////////////////////////////////////////////////////////////
 /// 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);
+}
+
 namespace cv { namespace viz { namespace impl
 {
-    template <typename _Tp>
-    bool readPose(const String& file, Affine3<_Tp>& pose, const String& tag)
-    {
-        FileStorage fs(file, FileStorage::READ);
-        if (!fs.isOpened())
-            return false;
-
-        Mat hdr(pose.matrix, false);
-        fs[tag] >> hdr;
-        return !hdr.empty() && hdr.depth() == DataDepth<_Tp>::value;
-    }
-
-    template <typename _Tp>
-    void writePose(const String& file, const Affine3<_Tp>& pose, const String& tag)
-    {
-        FileStorage fs(file, FileStorage::WRITE);
-        fs << tag << Mat(pose.matrix, false);
-    }
-
     template <typename _Tp>
     void readTrajectory(std::vector<Affine3<_Tp> >& traj, const String& files_format, int start, int end, const String& tag)
     {
@@ -271,8 +273,8 @@ namespace cv { namespace viz { namespace impl
 
         for(int i = start; i < end; ++i)
         {
-            Affine3<_Tp> affine;
-            bool ok = readPose(cv::format(files_format.c_str(), i),affine, tag);
+            Affine3d affine;
+            bool ok = readPose(cv::format(files_format.c_str(), i), affine, tag);
             if (!ok)
                 break;
 
@@ -290,11 +292,7 @@ namespace cv { namespace viz { namespace impl
 }}}
 
 
-bool cv::viz::readPose(const String& file, Affine3f& pose, const String& tag) { return impl::readPose(file, pose, tag); }
-bool cv::viz::readPose(const String& file, Affine3d& pose, const String& tag) { return impl::readPose(file, pose, tag); }
 
-void cv::viz::writePose(const String& file, const Affine3f& pose, const String& tag) { impl::writePose(file, pose, tag); }
-void cv::viz::writePose(const String& file, const Affine3d& pose, const String& tag) { impl::writePose(file, pose, tag); }
 
 void cv::viz::readTrajectory(std::vector<Affine3f>& traj, const String& files_format, int start, int end, const String& tag)
 { impl::readTrajectory(traj, files_format, start, end, tag); }
diff --git a/modules/viz/src/vizimpl.cpp b/modules/viz/src/vizimpl.cpp
index c727a99d21..cac58350b2 100644
--- a/modules/viz/src/vizimpl.cpp
+++ b/modules/viz/src/vizimpl.cpp
@@ -120,7 +120,7 @@ cv::viz::Viz3d::VizImpl::~VizImpl()
 }
 
 /////////////////////////////////////////////////////////////////////////////////////////////
-void cv::viz::Viz3d::VizImpl::showWidget(const String &id, const Widget &widget, const Affine3f &pose)
+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();
@@ -172,7 +172,7 @@ cv::viz::Widget cv::viz::Viz3d::VizImpl::getWidget(const String &id) const
 }
 
 /////////////////////////////////////////////////////////////////////////////////////////////
-void cv::viz::Viz3d::VizImpl::setWidgetPose(const String &id, const Affine3f &pose)
+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();
@@ -187,7 +187,7 @@ void cv::viz::Viz3d::VizImpl::setWidgetPose(const String &id, const Affine3f &po
 }
 
 /////////////////////////////////////////////////////////////////////////////////////////////
-void cv::viz::Viz3d::VizImpl::updateWidgetPose(const String &id, const Affine3f &pose)
+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();
@@ -202,8 +202,8 @@ void cv::viz::Viz3d::VizImpl::updateWidgetPose(const String &id, const Affine3f
         setWidgetPose(id, pose);
         return ;
     }
-    Matx44f matrix_cv = convertToMatx(matrix);
-    Affine3f updated_pose = pose * Affine3f(matrix_cv);
+    Matx44d matrix_cv = convertToMatx(matrix);
+    Affine3d updated_pose = pose * Affine3d(matrix_cv);
     matrix = convertToVtkMatrix(updated_pose.matrix);
 
     actor->SetUserMatrix(matrix);
@@ -211,7 +211,7 @@ void cv::viz::Viz3d::VizImpl::updateWidgetPose(const String &id, const Affine3f
 }
 
 /////////////////////////////////////////////////////////////////////////////////////////////
-cv::Affine3f cv::viz::Viz3d::VizImpl::getWidgetPose(const String &id) const
+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();
@@ -221,8 +221,8 @@ cv::Affine3f cv::viz::Viz3d::VizImpl::getWidgetPose(const String &id) const
     CV_Assert("Widget is not 3D." && actor);
 
     vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
-    Matx44f matrix_cv = convertToMatx(matrix);
-    return Affine3f(matrix_cv);
+    Matx44d matrix_cv = convertToMatx(matrix);
+    return Affine3d(matrix_cv);
 }
 
 /////////////////////////////////////////////////////////////////////////////////////////////
@@ -350,32 +350,32 @@ cv::viz::Camera cv::viz::Viz3d::VizImpl::getCamera() const
 }
 
 /////////////////////////////////////////////////////////////////////////////////////////////
-void cv::viz::Viz3d::VizImpl::setViewerPose(const Affine3f &pose)
+void cv::viz::Viz3d::VizImpl::setViewerPose(const Affine3d &pose)
 {
     vtkCamera& camera = *renderer_->GetActiveCamera();
 
     // Position = extrinsic translation
-    cv::Vec3f pos_vec = pose.translation();
+    cv::Vec3d pos_vec = pose.translation();
 
     // Rotate the view vector
-    cv::Matx33f rotation = pose.rotation();
-    cv::Vec3f y_axis(0.f, 1.f, 0.f);
-    cv::Vec3f up_vec(rotation * y_axis);
+    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::Vec3f z_axis(0.f, 0.f, 1.f);
-    cv::Vec3f focal_vec = pos_vec + rotation * z_axis;
+    cv::Vec3d z_axis(0.0, 0.0, 1.0);
+    cv::Vec3d focal_vec = pos_vec + rotation * z_axis;
 
-    camera.SetPosition(pos_vec[0], pos_vec[1], pos_vec[2]);
-    camera.SetFocalPoint(focal_vec[0], focal_vec[1], focal_vec[2]);
-    camera.SetViewUp(up_vec[0], up_vec[1], up_vec[2]);
+    camera.SetPosition(pos_vec.val);
+    camera.SetFocalPoint(focal_vec.val);
+    camera.SetViewUp(up_vec.val);
 
     renderer_->ResetCameraClippingRange();
     renderer_->Render();
 }
 
 /////////////////////////////////////////////////////////////////////////////////////////////
-cv::Affine3f cv::viz::Viz3d::VizImpl::getViewerPose()
+cv::Affine3d cv::viz::Viz3d::VizImpl::getViewerPose()
 {
     vtkCamera& camera = *renderer_->GetActiveCamera();
 
@@ -400,7 +400,7 @@ cv::Affine3f cv::viz::Viz3d::VizImpl::getViewerPose()
     R(2, 1) = y_axis[2];
     R(2, 2) = z_axis[2];
 
-    return cv::Affine3f(R, pos);
+    return cv::Affine3d(R, pos);
 }
 
 /////////////////////////////////////////////////////////////////////////////////////////////
diff --git a/modules/viz/src/vizimpl.hpp b/modules/viz/src/vizimpl.hpp
index d958f46726..0cfb403095 100644
--- a/modules/viz/src/vizimpl.hpp
+++ b/modules/viz/src/vizimpl.hpp
@@ -57,14 +57,14 @@ public:
     VizImpl(const String &name);
     virtual ~VizImpl();
 
-    void showWidget(const String &id, const Widget &widget, const Affine3f &pose = Affine3f::Identity());
+    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 Affine3f &pose);
-    void updateWidgetPose(const String &id, const Affine3f &pose);
-    Affine3f getWidgetPose(const String &id) const;
+    void setWidgetPose(const String &id, const Affine3d &pose);
+    void updateWidgetPose(const String &id, const Affine3d &pose);
+    Affine3d getWidgetPose(const String &id) const;
 
     void setDesiredUpdateRate(double rate);
     double getDesiredUpdateRate();
@@ -95,8 +95,8 @@ public:
     void resetCameraViewpoint(const String& id);
     void resetCamera();
 
-    void setViewerPose(const Affine3f &pose);
-    Affine3f getViewerPose();
+    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);
@@ -280,31 +280,6 @@ namespace cv
             }
         };
 
-        struct ApplyAffine
-        {
-            const Affine3f& affine_;
-            ApplyAffine(const Affine3f& affine) : affine_(affine) {}
-
-            template<typename _Tp> Point3_<_Tp> operator()(const Point3_<_Tp>& p) const { return affine_ * p; }
-
-            template<typename _Tp> Vec<_Tp, 3> operator()(const Vec<_Tp, 3>& v) const
-            {
-                const float* m = affine_.matrix.val;
-
-                Vec<_Tp, 3> result;
-                result[0] = (_Tp)(m[0] * v[0] + m[1] * v[1] + m[ 2] * v[2] + m[ 3]);
-                result[1] = (_Tp)(m[4] * v[0] + m[5] * v[1] + m[ 6] * v[2] + m[ 7]);
-                result[2] = (_Tp)(m[8] * v[0] + m[9] * v[1] + m[10] * v[2] + m[11]);
-                return result;
-            }
-
-        private:
-            ApplyAffine(const ApplyAffine&);
-            ApplyAffine& operator=(const ApplyAffine&);
-        };
-
-
-
         struct ConvertToVtkImage
         {
             struct Impl
diff --git a/modules/viz/src/widget.cpp b/modules/viz/src/widget.cpp
index a70fb925a3..839ea20146 100644
--- a/modules/viz/src/widget.cpp
+++ b/modules/viz/src/widget.cpp
@@ -239,7 +239,7 @@ void cv::viz::WidgetAccessor::setProp(Widget& widget, vtkSmartPointer<vtkProp> p
 ///////////////////////////////////////////////////////////////////////////////////////////////
 /// widget3D implementation
 
-void cv::viz::Widget3D::setPose(const Affine3f &pose)
+void cv::viz::Widget3D::setPose(const Affine3d &pose)
 {
     vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this));
     CV_Assert("Widget is not 3D." && actor);
@@ -249,7 +249,7 @@ void cv::viz::Widget3D::setPose(const Affine3f &pose)
     actor->Modified();
 }
 
-void cv::viz::Widget3D::updatePose(const Affine3f &pose)
+void cv::viz::Widget3D::updatePose(const Affine3d &pose)
 {
     vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this));
     CV_Assert("Widget is not 3D." && actor);
@@ -261,18 +261,18 @@ void cv::viz::Widget3D::updatePose(const Affine3f &pose)
         return;
     }
 
-    Affine3f updated_pose = pose * Affine3f(convertToMatx(matrix));
+    Affine3d updated_pose = pose * Affine3d(convertToMatx(matrix));
     matrix = convertToVtkMatrix(updated_pose.matrix);
 
     actor->SetUserMatrix(matrix);
     actor->Modified();
 }
 
-cv::Affine3f cv::viz::Widget3D::getPose() const
+cv::Affine3d cv::viz::Widget3D::getPose() const
 {
     vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this));
     CV_Assert("Widget is not 3D." && actor);
-    return Affine3f(convertToMatx(actor->GetUserMatrix()));
+    return Affine3d(convertToMatx(actor->GetUserMatrix()));
 }
 
 void cv::viz::Widget3D::setColor(const Color &color)
diff --git a/modules/viz/test/test_tutorial2.cpp b/modules/viz/test/test_tutorial2.cpp
index cba24638bb..a901adc2c7 100644
--- a/modules/viz/test/test_tutorial2.cpp
+++ b/modules/viz/test/test_tutorial2.cpp
@@ -12,34 +12,34 @@ void tutorial2()
     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));
+    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(Point3f(0.5,0.5,0.0), Point3f(0.0,0.0,-0.5), true, viz::Color::blue());
+    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
-    Mat rot_vec = Mat::zeros(1,3,CV_32F);
-    float translation_phase = 0.0, translation = 0.0;
+    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.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;
+        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 * 0.01f;
+        translation_phase += CV_PI * 0.01;
         translation = sin(translation_phase);
 
         /// Construct pose
-        Affine3f pose(rot_vec, Vec3f(translation, translation, translation));
+        Affine3d pose(rot_vec, Vec3d(translation, translation, translation));
 
         myWindow.setWidgetPose("Cube Widget", pose);
 
diff --git a/modules/viz/test/test_tutorial3.cpp b/modules/viz/test/test_tutorial3.cpp
index 8b43215482..590e29ebfd 100644
--- a/modules/viz/test/test_tutorial3.cpp
+++ b/modules/viz/test/test_tutorial3.cpp
@@ -15,23 +15,23 @@ void tutorial3(bool camera_pov)
     myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
 
     /// Let's assume camera has the following properties
-    Point3f cam_pos(3.f, 3.f, 3.f), cam_focal_point(3.f, 3.f, 2.f), cam_y_dir(-1.f, 0.f, 0.f);
+    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
-    Affine3f cam_pose = viz::makeCameraPose(cam_pos, cam_focal_point, cam_y_dir);
+    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
-    Affine3f transform = viz::makeTransformToGlobal(Vec3f(0.f, -1.f, 0.f), Vec3f(-1.f, 0.f, 0.f), Vec3f(0.f, 0.f, -1.f), cam_pos);
+    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
-    Affine3f cloud_pose = Affine3f().translate(Vec3f(0.f, 0.f, 3.f));
+    Affine3d cloud_pose = Affine3d().translate(Vec3d(0.0, 0.0, 3.0));
     /// Pose of the widget in global frame
-    Affine3f cloud_pose_global = transform * cloud_pose;
+    Affine3d cloud_pose_global = transform * cloud_pose;
 
     /// Visualize camera frame
     if (!camera_pov)
diff --git a/modules/viz/test/test_viz3d.cpp b/modules/viz/test/test_viz3d.cpp
index df66727d89..ce0344f1e4 100644
--- a/modules/viz/test/test_viz3d.cpp
+++ b/modules/viz/test/test_viz3d.cpp
@@ -67,7 +67,7 @@ TEST(Viz_viz3d, develop)
     //viz.showWidget("h", cv::viz::Widget::fromPlyFile("d:/horse-red.ply"));
     //viz.showWidget("a", cv::viz::WArrow(cv::Point3f(0,0,0), cv::Point3f(1,1,1)));
 
-    std::vector<cv::Affine3f> gt, es;
+    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");