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Dear LBerger,

thank you for your help. Your analysis was correct. Unfortunately as a new user I am not allowed to answer to my own thread for 2 days. So I post my quick answer here in the comments.

(cv) pi@raspberrypi:~/opencv/build $ cmake -D CMAKE_BUILD_TYPE=RELEASE \
>     -D CMAKE_INSTALL_PREFIX=/usr/local \
>     -D OPENCV_EXTRA_MODULES_PATH=~/opencv_contrib/modules \
>     -D ENABLE_NEON=ON \
>     -D ENABLE_VFPV3=ON \
>     -D BUILD_TESTS=OFF \
>     -D OPENCV_ENABLE_NONFREE=ON \
>     -D INSTALL_PYTHON_EXAMPLES=OFF \
>     -D BUILD_EXAMPLES=OFF ..

Thank you and have a nice weekend!