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I found a workaround:
After running cmake and generating the make files, edit opencv/opencv/platforms/linux/<your_build_dir>/CMakeFiles/3.5.1/CMakeCCompiler.cmake and replace set(CMAKE_AR "CMAKE_AR-NOTFOUND") with set(CMAKE_AR "/usr/bin/arm-linux-gnueabi-ar")
Note that setting the variable CMAKE_AR in the cmake line (CMAKE_AR="/usr/bin/arm-linux-gnueabi-ar") does not work. Seems like this sets the flag to empty.
