I ran into a problem compiling the opencv_contrib modules.
Just running a vanilla cmake then make:
cmake -DOPENCV_EXTRA_MODULES_PATH=../opencv_contrib/modules ..
make
produced the error:
/Users/ajx/Downloads/opencv/opencv_contrib/modules/rgbd/src/odometry.cpp:41:10: fatal error: 'unsupported/Eigen/MatrixFunctions' file not found
#include <unsupported/Eigen/MatrixFunctions>
It seems the problem is that cmake was finding Eigen in /Library/Frameworks/Eigen.Framework/. I don't even know how that Eigen got installed. Homebrew? Does it ship with Mac OS X now? In any case, I fixed the issue by pointing cmake directly to my homebrew's Eigen installation:
cmake -DOPENCV_EXTRA_MODULES_PATH=../opencv_contrib/modules -DEIGEN_INCLUDE_PATH=/usr/local/include/eigen3/ ..