diff --git a/buildAndPackageOpenCV.sh b/buildAndPackageOpenCV.sh
index f2a0d9a..4e16eab 100755
--- a/buildAndPackageOpenCV.sh
+++ b/buildAndPackageOpenCV.sh
@@ -3,6 +3,7 @@
 # Copyright(c) JetsonHacks (2017-2018)
 
 OPENCV_VERSION=3.4.1
+OPENCV_CONTRIB_VERSION=${OPENCV_CONTRIB_VERSION:-$OPENCV_VERSION}
 # Jetson TX2
 ARCH_BIN=6.2
 # Jetson TX1
@@ -14,6 +15,10 @@ INSTALL_DIR=/usr/local
 # Make sure that you set this to YES
 # Value should be YES or NO
 DOWNLOAD_OPENCV_EXTRAS=NO
+# Download and compile with opencv_contrib:
+# 	https://github.com/opencv/opencv_contrib
+# Will download and compile next to opencv source
+WITH_OPENCV_CONTRIB=NO
 # Source code directory
 OPENCV_SOURCE_DIR=$HOME
 WHEREAMI=$PWD
@@ -62,6 +67,10 @@ if [ $DOWNLOAD_OPENCV_EXTRAS == "YES" ] ; then
  echo "Also installing opencv_extras"
 fi
 
+if [ $WITH_OPENCV_CONTRIB == "YES" ] ; then
+ echo "Also installing opencv_contrib"
+fi
+
 # Repository setup
 sudo apt-add-repository universe
 sudo apt-get update
@@ -126,6 +135,15 @@ if [ $DOWNLOAD_OPENCV_EXTRAS == "YES" ] ; then
  git checkout -b v${OPENCV_VERSION} ${OPENCV_VERSION}
 fi
 
+OPENCV_CONTRIB_COMPILE=""
+if [ $WITH_OPENCV_CONTRIB == "YES" ] ; then
+ echo "Installing opencv_contrib"
+ cd $OPENCV_SOURCE_DIR
+ git clone https://github.com/opencv/opencv_contrib.git
+ git checkout -b v${OPENCV_CONTRIB_VERSION} ${OPENCV_CONTRIB_VERSION}
+ OPENCV_CONTRIB_COMPILE="-D OPENCV_EXTRA_MODULES_PATH=${OPENCV_SOURCE_DIR}/opencv_contrib/modules"
+fi
+
 cd $OPENCV_SOURCE_DIR/opencv
 mkdir build
 cd build
@@ -139,6 +157,7 @@ cd build
 # Check OpenCV documentation for details
 
 
+
 time cmake -D CMAKE_BUILD_TYPE=RELEASE \
       -D CMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} \
       -D WITH_CUDA=ON \
@@ -153,6 +172,7 @@ time cmake -D CMAKE_BUILD_TYPE=RELEASE \
       -D WITH_QT=ON \
       -D WITH_OPENGL=ON \
       -D CPACK_BINARY_DEB=ON \
+      $OPENCV_CONTRIB_COMPILE \
       ../
 
 if [ $? -eq 0 ] ; then
diff --git a/buildOpenCV.sh b/buildOpenCV.sh
index 5236422..c98d899 100755
--- a/buildOpenCV.sh
+++ b/buildOpenCV.sh
@@ -3,6 +3,7 @@
 # Copyright(c) JetsonHacks (2017-2018)
 
 OPENCV_VERSION=3.4.1
+OPENCV_CONTRIB_VERSION=${OPENCV_CONTRIB_VERSION:-$OPENCV_VERSION}
 # Jetson TX2
 ARCH_BIN=6.2
 # Jetson TX1
@@ -14,6 +15,10 @@ INSTALL_DIR=/usr/local
 # Make sure that you set this to YES
 # Value should be YES or NO
 DOWNLOAD_OPENCV_EXTRAS=NO
+# Download and compile with opencv_contrib:
+# 	https://github.com/opencv/opencv_contrib
+# Will download and compile next to opencv source
+WITH_OPENCV_CONTRIB=${WITH_OPENCV_CONTRIB:-"NO"}
 # Source code directory
 OPENCV_SOURCE_DIR=$HOME
 WHEREAMI=$PWD
@@ -62,6 +67,10 @@ if [ $DOWNLOAD_OPENCV_EXTRAS == "YES" ] ; then
  echo "Also installing opencv_extras"
 fi
 
+if [ $WITH_OPENCV_CONTRIB == "YES" ] ; then
+ echo "Also installing opencv_contrib"
+fi
+
 # Repository setup
 sudo apt-add-repository universe
 sudo apt-get update
@@ -126,6 +135,15 @@ if [ $DOWNLOAD_OPENCV_EXTRAS == "YES" ] ; then
  git checkout -b v${OPENCV_VERSION} ${OPENCV_VERSION}
 fi
 
+OPENCV_CONTRIB_COMPILE=""
+if [ $WITH_OPENCV_CONTRIB == "YES" ] ; then
+ echo "Installing opencv_contrib"
+ cd $OPENCV_SOURCE_DIR
+ git clone https://github.com/opencv/opencv_contrib.git
+ git checkout -b v${OPENCV_CONTRIB_VERSION} ${OPENCV_CONTRIB_VERSION}
+ OPENCV_CONTRIB_COMPILE="-D OPENCV_EXTRA_MODULES_PATH=${OPENCV_SOURCE_DIR}/opencv_contrib/modules"
+fi
+
 cd $OPENCV_SOURCE_DIR/opencv
 mkdir build
 cd build
@@ -138,6 +156,7 @@ cd build
 # There are also switches which tell CMAKE to build the samples and tests
 # Check OpenCV documentation for details
 
+
 time cmake -D CMAKE_BUILD_TYPE=RELEASE \
       -D CMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} \
       -D WITH_CUDA=ON \
@@ -151,6 +170,7 @@ time cmake -D CMAKE_BUILD_TYPE=RELEASE \
       -D WITH_GSTREAMER_0_10=OFF \
       -D WITH_QT=ON \
       -D WITH_OPENGL=ON \
+      ${OPENCV_CONTRIB_COMPILE} \
       ../
 
 if [ $? -eq 0 ] ; then
diff --git a/removeOpenCVSources.sh b/removeOpenCVSources.sh
index fceef39..f398843 100755
--- a/removeOpenCVSources.sh
+++ b/removeOpenCVSources.sh
@@ -17,7 +17,7 @@ function usage
 while [ "$1" != "" ]; do
     case $1 in
         -d | --directory )      shift
-				OPENCV_SOURCE_DIR=$1
+                OPENCV_SOURCE_DIR=$1
                                 ;;
         -h | --help )           usage
                                 exit
@@ -31,25 +31,13 @@ done
 echo "Removing opencv directory from $OPENCV_SOURCE_DIR"
 cd $OPENCV_SOURCE_DIR
 
-if [ -d "opencv" ] ; then
-   if [ -L "opencv" ] ; then
-     echo "opencv is a symlink, unable to remove"
-   else
-     echo "Removing opencv sources"
-     sudo rm -r opencv
-   fi
-else
-   echo "Could not find opencv directory"
-fi
-
-if [ -d "opencv_extra" ] ; then
-   if [ -L "opencv_extra" ] ; then 
-     echo "opencv_extra is a symlink, unable to remove"
-   else
-     echo "Removing opencv_extra sources"
-     sudo rm -r opencv_extra
-   fi
-else
-   echo "Could not find opencv_extra directory"
-fi
-
+for remove_dir in "opencv" "opencv_extra" "opencv_contrib"; do
+    if [ -d ${remove_dir} ] ; then
+       if [ -L ${remove_dir} ] ; then
+         echo "${remove_dir} is a symlink, unable to remove"
+       else
+         echo "Removing ${remove_dir} sources"
+         rm -r ${remove_dir}
+       fi
+    fi
+done