diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/Mesh.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/Mesh.h
new file mode 100644
index 000000000..2ca625d3c
--- /dev/null
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/Mesh.h
@@ -0,0 +1,86 @@
+/*
+ * Mesh.h
+ *
+ *  Created on: Apr 9, 2014
+ *      Author: edgar
+ */
+
+#ifndef MESH_H_
+#define MESH_H_
+
+#include <iostream>
+#include <opencv2/core/core.hpp>
+
+
+// --------------------------------------------------- //
+//                 TRIANGLE CLASS                      //
+// --------------------------------------------------- //
+
+class Triangle {
+public:
+
+  explicit Triangle(int id, cv::Point3f V0, cv::Point3f V1, cv::Point3f V2);
+  virtual ~Triangle();
+
+  cv::Point3f getV0() const { return v0_; }
+  cv::Point3f getV1() const { return v1_; }
+  cv::Point3f getV2() const { return v2_; }
+
+private:
+  /** The identifier number of the triangle */
+  int id_;
+  /** The three vertices that defines the triangle */
+  cv::Point3f v0_, v1_, v2_;
+};
+
+
+// --------------------------------------------------- //
+//                     RAY CLASS                       //
+// --------------------------------------------------- //
+
+class Ray {
+public:
+
+  explicit Ray(cv::Point3f P0, cv::Point3f P1);
+  virtual ~Ray();
+
+  cv::Point3f getP0() { return p0_; }
+  cv::Point3f getP1() { return p1_; }
+
+private:
+  /** The two points that defines the ray */
+  cv::Point3f p0_, p1_;
+};
+
+
+// --------------------------------------------------- //
+//                OBJECT MESH CLASS                    //
+// --------------------------------------------------- //
+
+class Mesh
+{
+public:
+
+  Mesh();
+  virtual ~Mesh();
+
+  std::vector<std::vector<int> > getTrianglesList() const { return list_triangles_; }
+  cv::Point3f getVertex(int pos) const { return list_vertex_[pos]; }
+  int getNumVertices() const { return num_vertexs_; }
+
+  void load(const std::string path_file);
+
+private:
+  /** The identification number of the mesh */
+  int id_;
+  /** The current number of vertices in the mesh */
+  int num_vertexs_;
+  /** The current number of triangles in the mesh */
+  int num_triangles_;
+  /* The list of triangles of the mesh */
+  std::vector<cv::Point3f> list_vertex_;
+  /* The list of triangles of the mesh */
+  std::vector<std::vector<int> > list_triangles_;
+};
+
+#endif /* OBJECTMESH_H_ */