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You should probably ask that question on http://answers.ros.org/questions/ Build OpenCV like you would for any source package in ROS using http://wiki.ros.org/kinetic/Installation/Source (but have the rosinstall_generator only mention opencv3.
For creating one lib in debug only, I don't think it's feasible through CMake. You can still build OpenCV in Release and Debug mode and copy the files over, I believe that should work.
