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Basically this question has been answered already 1000 times before. The PDB files are NOT available in the download that you can find at the download section of openCV because they take to much room and they are system specific. This is not an error but a warning making you aware of this.
You will be perfectly able to run openCV code samples, however debugging into OpenCV source code won't work unless you built openCV yourself and you have the pdb files for debugging in Visual Studio for your system built.
