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Lightweight GUI integration with keyboard callback and buttons

Hi,

The GUI elements built into OpenCV are fairly limited, and don't have features like true keyboard callbacks (waitKey stalls the program) or buttons. I realise Qt is supported but that is a huge library and I don't need to make full use of all of its features. I also need something which will not slow down my programs as I will be running them on NVidia Tegras and Raspberry Pis.

So my question: has anyone found any lightweight C++ GUI libraries which they have managed to integrate into their OpenCV programs (notably reading in a cv::Mat and displaying it in the GUI)? I have looked at FLTK but the license is GPL and I am looking for something with a BSD license or similar where I do not have to open source my code.

Thanks