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How to add modules from opencv_contrib to opencv-3.4.1?

I have gone through the readme file from HERE

I have installed cmake and downloaded the the sourcecodes for both opencv and opencv_contrib repository.(Placed them both in the same folder)

Cmake is identified as 'Command not found' and im unable to proceed further

Heres the command I used from the build folder I created in the opencv folder

cmake -DOPENCV_EXTRA_MODULES_PATH=../../opencv_contrib-3.4.1/modules/

I tried using the GUI as well to include the dpm module but run into this error:

GUI error

It would be really helpful if anyone could post the step by step approach here as there seems to be no place with the one stop solution for this.