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I have completed a test project in Xcode using opencv 3.1. El Capitan 10.11.3, Xcode 7.2. No Swift yet, but I believe it will work. Works fine with Obj C. You do not need to build anything for iOS. Just download the framework and add it your frameworks in Xcode.

I have completed a test project in Xcode using opencv 3.1. El Capitan 10.11.3, Xcode 7.2. No Swift yet, but I believe it will work. Works fine with Obj C. You do not need to build anything for iOS. Just download the framework and add it your frameworks in Xcode. I did 'not' disable bitcode with this project.