diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Mesh.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Mesh.cpp
new file mode 100644
index 000000000..6458cfde3
--- /dev/null
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Mesh.cpp
@@ -0,0 +1,82 @@
+/*
+ * Mesh.cpp
+ *
+ *  Created on: Apr 9, 2014
+ *      Author: edgar
+ */
+
+#include "Mesh.h"
+#include "CsvReader.h"
+
+
+// --------------------------------------------------- //
+//                   TRIANGLE CLASS                    //
+// --------------------------------------------------- //
+
+/**  The custom constructor of the Triangle Class */
+Triangle::Triangle(int id, cv::Point3f V0, cv::Point3f V1, cv::Point3f V2)
+{
+  id_ = id; v0_ = V0; v1_ = V1; v2_ = V2;
+}
+
+/**  The default destructor of the Class */
+Triangle::~Triangle()
+{
+  // TODO Auto-generated destructor stub
+}
+
+
+// --------------------------------------------------- //
+//                     RAY CLASS                       //
+// --------------------------------------------------- //
+
+/**  The custom constructor of the Ray Class */
+Ray::Ray(cv::Point3f P0, cv::Point3f P1) {
+  p0_ = P0; p1_ = P1;
+}
+
+/**  The default destructor of the Class */
+Ray::~Ray()
+{
+  // TODO Auto-generated destructor stub
+}
+
+
+// --------------------------------------------------- //
+//                 OBJECT MESH CLASS                   //
+// --------------------------------------------------- //
+
+/** The default constructor of the ObjectMesh Class */
+Mesh::Mesh() : list_vertex_(0) , list_triangles_(0)
+{
+  id_ = 0;
+  num_vertexs_ = 0;
+  num_triangles_ = 0;
+}
+
+/** The default destructor of the ObjectMesh Class */
+Mesh::~Mesh()
+{
+  // TODO Auto-generated destructor stub
+}
+
+
+/** Load a CSV with *.ply format **/
+void Mesh::load(const std::string path)
+{
+
+  // Create the reader
+  CsvReader csvReader(path);
+
+  // Clear previous data
+  list_vertex_.clear();
+  list_triangles_.clear();
+
+  // Read from .ply file
+  csvReader.readPLY(list_vertex_, list_triangles_);
+
+  // Update mesh attributes
+  num_vertexs_ = list_vertex_.size();
+  num_triangles_ = list_triangles_.size();
+
+}