diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt
index 0e6dd14fc..dc5d24323 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt
@@ -7,9 +7,7 @@ include_directories(
     ${OpenCV_INCLUDE_DIRS}
 )
 
-add_executable(
-pnp_registration
-    src/main_registration.cpp
+add_library(pnp_lib
     src/CsvReader.cpp
     src/CsvWriter.cpp
     src/ModelRegistration.cpp
@@ -17,41 +15,14 @@ pnp_registration
     src/Model.cpp
     src/PnPProblem.cpp
     src/Utils.cpp
-    src/RobustMatcher.cpp
-)
+    src/RobustMatcher.cpp)
 
-add_executable(
-pnp_verification
-    src/main_verification.cpp
-    src/CsvReader.cpp
-    src/CsvWriter.cpp
-    src/ModelRegistration.cpp
-    src/Mesh.cpp
-    src/Model.cpp
-    src/PnPProblem.cpp
-    src/Utils.cpp
-    src/RobustMatcher.cpp
-)
+add_executable( pnp_registration src/main_registration.cpp )
+add_executable( pnp_verification src/main_verification.cpp )
+add_executable( pnp_detection src/main_detection.cpp )
+add_executable( pnp_test src/test_pnp.cpp )
 
-add_executable(
-pnp_detection
-    src/main_detection.cpp
-    src/CsvReader.cpp
-    src/CsvWriter.cpp
-    src/ModelRegistration.cpp
-    src/Mesh.cpp
-    src/Model.cpp
-    src/PnPProblem.cpp
-    src/Utils.cpp
-    src/RobustMatcher.cpp
-)
-
-add_executable(
-pnp_test
-    src/test_pnp.cpp
-)
-
-target_link_libraries( pnp_registration ${OpenCV_LIBS} )
-target_link_libraries( pnp_verification ${OpenCV_LIBS} )
-target_link_libraries( pnp_detection ${OpenCV_LIBS} )
-target_link_libraries( pnp_test ${OpenCV_LIBS} )
+target_link_libraries( pnp_registration pnp_lib ${OpenCV_LIBS} )
+target_link_libraries( pnp_verification pnp_lib ${OpenCV_LIBS} )
+target_link_libraries( pnp_detection pnp_lib ${OpenCV_LIBS} )
+target_link_libraries( pnp_test pnp_lib ${OpenCV_LIBS} )
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_verification.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_verification.cpp
index 1b948be4d..17bc96dfa 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_verification.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_verification.cpp
@@ -256,7 +256,7 @@ int main(int, char**)
   pnp_verification_epnp.estimatePose( list_points3d_model_match, list_points2d_scene_match, cv::EPNP);
   pnp_verification_iter.estimatePose( list_points3d_model_match, list_points2d_scene_match, cv::ITERATIVE);
   //pnp_verification_p3p.estimatePose( list_points3d_model_match, list_points2d_scene_match, cv::P3P);
-  pnp_verification_dls.estimatePose( list_points3d_model_match, list_points2d_scene_match, cv::DLS);
+  //pnp_verification_dls.estimatePose( list_points3d_model_match, list_points2d_scene_match, cv::DLS);
 
   // Draw mesh
   drawObjectMesh(img_vis, &mesh, &pnp_verification_dls, green);