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 32a1da5966..a87f9e5116 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
@@ -1,12 +1,16 @@
 cmake_minimum_required(VERSION 2.8)
 project( PNP_DEMO )
 
-find_package( Boost REQUIRED )
+ADD_DEFINITIONS(
+    -std=c++11 
+    -std=c++0x
+    # Other flags
+)
+
 find_package( OpenCV REQUIRED )
 
 include_directories( 
 	$(PNP_DEMO_SOURCE_DIR)/include 
-	${Boost_INCLUDE_DIR}
 	${OpenCV_INCLUDE_DIRS} 
 )
 
@@ -23,6 +27,19 @@ pnp_registration
 	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_detection 
 	src/main_detection.cpp
@@ -36,5 +53,12 @@ pnp_detection
 	src/RobustMatcher.cpp
 )
 
-target_link_libraries( pnp_registration ${Boost_LIBRARIES} ${OpenCV_LIBS} )
-target_link_libraries( pnp_detection ${Boost_LIBRARIES} ${OpenCV_LIBS} )
+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} )
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp
index 8061df6bc1..6f38c5c9a8 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp
@@ -1,4 +1,4 @@
-#include <boost/lexical_cast.hpp>
+#include <string>
 #include "CsvReader.h"
 
 /** The default constructor of the CSV reader Class */
@@ -28,8 +28,8 @@ std::string line, tmp_str, n;
       {
           getline(liness, tmp_str, _separator);
           getline(liness, n);
-          if(tmp_str == "vertex") num_vertex = boost::lexical_cast< int >(n);
-          if(tmp_str == "face") num_triangles = boost::lexical_cast< int >(n);
+          if(tmp_str == "vertex") num_vertex = std::stoi(n);
+          if(tmp_str == "face") num_triangles = std::stoi(n);
       }
       if(tmp_str == "end_header") end_header = true;
     }
@@ -46,9 +46,9 @@ std::string line, tmp_str, n;
         getline(liness, z);
 
         cv::Point3f tmp_p;
-        tmp_p.x = boost::lexical_cast< float >(x);
-        tmp_p.y = boost::lexical_cast< float >(y);
-        tmp_p.z = boost::lexical_cast< float >(z);
+        tmp_p.x = std::stof(x);
+        tmp_p.y = std::stof(y);
+        tmp_p.z = std::stof(z);
         list_vertex.push_back(tmp_p);
 
         count++;
@@ -68,9 +68,9 @@ std::string line, tmp_str, n;
         getline(liness, id2);
 
         std::vector<int> tmp_triangle(3);
-        tmp_triangle[0] = boost::lexical_cast< int >(id0);
-        tmp_triangle[1] = boost::lexical_cast< int >(id1);
-        tmp_triangle[2] = boost::lexical_cast< int >(id2);
+        tmp_triangle[0] = std::stoi(id0);
+        tmp_triangle[1] = std::stoi(id1);
+        tmp_triangle[2] = std::stoi(id2);
         list_triangles.push_back(tmp_triangle);
 
         count++;
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.cpp
index c8dc9449da..65a8beaa5c 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.cpp
@@ -1,4 +1,4 @@
-#include <boost/lexical_cast.hpp>
+#include <string>
 #include "CsvWriter.h"
 
 CsvWriter::CsvWriter(const std::string &path, const std::string &separator){
@@ -17,9 +17,9 @@ void CsvWriter::writeXYZ(const std::vector<cv::Point3f> &list_points3d)
   std::string x, y, z;
   for(unsigned int i = 0; i < list_points3d.size(); ++i)
   {
-    x = boost::lexical_cast< std::string >(list_points3d[i].x);
-    y = boost::lexical_cast< std::string >(list_points3d[i].y);
-    z = boost::lexical_cast< std::string >(list_points3d[i].z);
+    x = std::to_string(list_points3d[i].x);
+    y = std::to_string(list_points3d[i].y);
+    z = std::to_string(list_points3d[i].z);
 
     _file << x << _separator << y << _separator << z << std::endl;
   }
@@ -31,18 +31,18 @@ void CsvWriter::writeUVXYZ(const std::vector<cv::Point3f> &list_points3d, const
   std::string u, v, x, y, z, descriptor_str;
   for(int i = 0; i < list_points3d.size(); ++i)
   {
-    u = boost::lexical_cast< std::string >(list_points2d[i].x);
-    v = boost::lexical_cast< std::string >(list_points2d[i].y);
-    x = boost::lexical_cast< std::string >(list_points3d[i].x);
-    y = boost::lexical_cast< std::string >(list_points3d[i].y);
-    z = boost::lexical_cast< std::string >(list_points3d[i].z);
+    u = std::to_string(list_points2d[i].x);
+    v = std::to_string(list_points2d[i].y);
+    x = std::to_string(list_points3d[i].x);
+    y = std::to_string(list_points3d[i].y);
+    z = std::to_string(list_points3d[i].z);
 
     _file << u << _separator << v << _separator << x << _separator << y << _separator << z;
 
     for(int j = 0; j < 32; ++j)
     {
       std::cout << descriptors.at<float>(i,j) << std::endl;
-      descriptor_str = boost::lexical_cast< std::string >(descriptors.at<float>(i,j));
+      descriptor_str = std::to_string(descriptors.at<float>(i,j));
       _file << _separator << descriptor_str;
     }
     _file << std::endl;