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You're mixing OpenCV 2.4.10 and 3.0.0. The link in that tutorial points to the master branch of the GitHub repo, which contains right now 3.0.0 files. That's why you don't have in your installation the videoio.hpp file and why the compilation error arises. Either upgrade your version to 3.0.0 or use the code included in the tutorial webpage (found also here)