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I got the same error at first. After adding the following cmake cache entries, the compilation of OpenCV 3.0.0-beta was successful.
-D CUDA_ARCH_BIN=3.2
-D CUDA_ARCH_PTX=3.2
Note: I have Linux for Tegra R21.3 with CUDA 6.5 and ffmpeg-2.5.4* installed on my Jetson TK1 dev-board.
*Don't forget to compile with the --enable-shared config option!