diff --git a/.github/workflows/coverage.yml b/.github/workflows/coverage.yml
index 677761b0fa..f7a0705e4c 100644
--- a/.github/workflows/coverage.yml
+++ b/.github/workflows/coverage.yml
@@ -76,7 +76,9 @@ jobs:
           --output-file visp-coverage.cleaned
 
     - name: Upload report to Codecov
-      uses: codecov/codecov-action@v2
+      uses: codecov/codecov-action@v4
+      env:
+        CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
       with:
         files: ./build/visp-coverage.cleaned
         fail_ci_if_error: true
diff --git a/appveyor.yml b/appveyor.yml
index 715925da71..414e713f88 100644
--- a/appveyor.yml
+++ b/appveyor.yml
@@ -2,7 +2,7 @@
 version: "3.6.1-{build}"
 
 image:
-  - Visual Studio 2017
+  - Visual Studio 2022
 
 # to add several platforms to build matrix
 platform:
@@ -12,13 +12,6 @@ configuration:
   - Release
 
 environment:
-  VISP_OPENCV_MINGW_FILE: opencv-4.1.0-MinGW-build-package.7z
-  VISP_OPENCV_MINGW_DIR: opencv-4.1.0-MinGW-build-package
-  VISP_OPENCV_MINGW_PKG: https://github.com/lagadic/visp-dependencies/blob/master/opencv-4.1.0-MinGW-x86_64-7.3.0-release-posix-seh-rt_v5-rev0-build-package.7z?raw=true
-  VISP_OPENCV_VS2015_2017_FILE: opencv-4.1.0-vc14_vc15.exe
-  VISP_OPENCV_VS2015_2017_DIR: opencv-4.1.0-vc14_vc15
-  VISP_OPENCV_VS2015_2017_PKG: https://github.com/opencv/opencv/releases/download/4.1.0/opencv-4.1.0-vc14_vc15.exe
-
   matrix:
     - TARGET: mingw
     # - TARGET: msvc
@@ -45,67 +38,27 @@ install:
   # visp_sample
   - git clone --depth 1 https://github.com/lagadic/visp_sample
 
-  # opencv
-  - ps: >-
-      if ((${env:TARGET} -imatch "msvc" -or ${env:TARGET} -imatch "visp_sample") -and !(Test-Path ${env:VISP_OPENCV_VS2015_2017_FILE})) {
-        echo "Downloading OpenCV Visual Studio from ${env:VISP_OPENCV_VS2015_2017_PKG} ..."
-        appveyor DownloadFile "${env:VISP_OPENCV_VS2015_2017_PKG}" -FileName ${env:VISP_OPENCV_VS2015_2017_FILE} -Timeout 1200000
-      }
-
-  - ps: >-
-      if (${env:TARGET} -imatch "msvc" -or ${env:TARGET} -imatch "visp_sample") {
-        echo "Extracting OpenCV Visual Studio to C:\projects\deps ..."
-        7z x ${env:VISP_OPENCV_VS2015_2017_FILE} -y "-o${env:VISP_OPENCV_VS2015_2017_DIR}"
-      }
-
-  - ps: >-
-      if (${env:TARGET} -imatch "mingw" -and !(Test-Path ${env:VISP_OPENCV_MINGW_FILE})) {
-        echo "Downloading OpenCV MinGW from ${env:VISP_OPENCV_MINGW_PKG} ..."
-        appveyor DownloadFile "${env:VISP_OPENCV_MINGW_PKG}" -FileName ${env:VISP_OPENCV_MINGW_FILE} -Timeout 1200000
-      }
-
-  - ps: >-
-      if (${env:TARGET} -imatch "mingw") {
-        echo "Extracting OpenCV MinGW to C:\projects\deps ..."
-        7z x ${env:VISP_OPENCV_MINGW_FILE} -y "-o${env:VISP_OPENCV_MINGW_DIR}"
-      }
-
-cache:
-  - opencv-4.1.0-MinGW-build-package.7z -> appveyor.yml
-  - opencv-4.1.0-vc14_vc15.exe -> appveyor.yml
-
 # visp clone directory
 clone_folder: C:\projects\visp\visp
 
 before_build:
   # Setup path for mingw
-  # Use MinGW-w64 in C:\mingw-w64\x86_64-7.3.0-posix-seh-rt_v5-rev0\mingw64\bin
-  - if "%TARGET%"=="mingw" set MINGW_DIR=C:\mingw-w64\x86_64-7.3.0-posix-seh-rt_v5-rev0\mingw64
+  # Use MinGW-w64 in C:\mingw-w64\x86_64-8.1.0-posix-seh-rt_v6-rev0\mingw64\bin
+  - if "%TARGET%"=="mingw" set MINGW_DIR=C:\mingw-w64\x86_64-8.1.0-posix-seh-rt_v6-rev0\mingw64
   # Workaround for CMake not wanting sh.exe on PATH for MinGW
   - if "%TARGET%"=="mingw" set PATH=%PATH:C:\Program Files\Git\usr\bin;=%
-  - if "%TARGET%"=="mingw" set PATH=C:\mingw-w64\x86_64-7.3.0-posix-seh-rt_v5-rev0\mingw64\bin;%PATH%
-  - if "%TARGET%"=="mingw" dir C:\mingw-w64\x86_64-7.3.0-posix-seh-rt_v5-rev0\mingw64\bin
+  - if "%TARGET%"=="mingw" set PATH=C:\mingw-w64\x86_64-8.1.0-posix-seh-rt_v6-rev0\mingw64\bin;%PATH%
+  - if "%TARGET%"=="mingw" dir C:\mingw-w64\x86_64-8.1.0-posix-seh-rt_v6-rev0\mingw64\bin
   - if "%TARGET%"=="mingw" mingw32-make --version
 
   # Setup path for ViSP
-  - if "%TARGET%"=="msvc" set VISP_DLL_DIR=C:\projects\visp\build\install\%platform%\vc15\bin
+  - if "%TARGET%"=="msvc" set VISP_DLL_DIR=C:\projects\visp\build\install\%platform%\vc17\bin
   - if "%TARGET%"=="msvc" set PATH=%VISP_DLL_DIR%;%PATH%
   - if "%TARGET%"=="mingw" set VISP_DLL_DIR=C:\projects\visp\build\install\%platform%\mingw\bin
   - if "%TARGET%"=="mingw" set PATH=%VISP_DLL_DIR%;%PATH%
-  - if "%TARGET%"=="visp_sample" set VISP_DLL_DIR=C:\projects\visp\build\install\%platform%\vc15\bin
+  - if "%TARGET%"=="visp_sample" set VISP_DLL_DIR=C:\projects\visp\build\install\%platform%\vc17\bin
   - if "%TARGET%"=="visp_sample" set PATH=%VISP_DLL_DIR%;%PATH%
 
-  # Setup path for OpenCV
-  - if "%TARGET%"=="msvc" set OpenCV_DIR=C:\projects\deps\%VISP_OPENCV_VS2015_2017_DIR%\opencv\build
-  - if "%TARGET%"=="msvc" set OpenCV_DLL_DIR=%OpenCV_DIR%\%platform%\vc15\bin
-  - if "%TARGET%"=="msvc" set PATH=%OPENCV_DLL_DIR%;%PATH%
-  - if "%TARGET%"=="mingw" set OpenCV_DIR=C:\projects\deps\%VISP_OPENCV_MINGW_DIR%\install
-  - if "%TARGET%"=="mingw" set OpenCV_DLL_DIR=%OpenCV_DIR%\x64\mingw\bin
-  - if "%TARGET%"=="mingw" set PATH=%OPENCV_DLL_DIR%;%PATH%
-  - if "%TARGET%"=="visp_sample" set OpenCV_DIR=C:\projects\deps\%VISP_OPENCV_VS2015_2017_DIR%\opencv\build
-  - if "%TARGET%"=="visp_sample" set OpenCV_DLL_DIR=%OpenCV_DIR%\%platform%\vc15\bin
-  - if "%TARGET%"=="visp_sample" set PATH=%OPENCV_DLL_DIR%;%PATH%
-
 build_script:
   - echo %PATH%
   - dir C:\projects\deps
@@ -114,31 +67,28 @@ build_script:
   - cd C:\projects\visp\build
 
   # mingw case
-  - if "%TARGET%"=="mingw" dir %OpenCV_DLL_DIR%
   - if "%TARGET%"=="mingw" cmake -G "MinGW Makefiles" -DCMAKE_BUILD_TYPE=%configuration% ..\visp
   - if "%TARGET%"=="mingw" cmake --build . --config %configuration% --target install -- -j2
   - if "%TARGET%"=="mingw" dir C:\projects\visp\build\install
   - if "%TARGET%"=="mingw" dir %VISP_DLL_DIR%
-  - if "%TARGET%"=="mingw" ctest --output-on-failure -V
+  - if "%TARGET%"=="mingw" ctest --output-on-failure -j2
 
   # msvc case
-  - if "%TARGET%"=="msvc" dir %OpenCV_DLL_DIR%
-  - if "%TARGET%"=="msvc" cmake -G "Visual Studio 15 2017" -A %platform% ..\visp
+  - if "%TARGET%"=="msvc" cmake -G "Visual Studio 17 2022" -A %platform% ..\visp
   - if "%TARGET%"=="msvc" cmake --build . --config %configuration% --target install -- /m:2
   - if "%TARGET%"=="msvc" dir C:\projects\visp\build\install
   - if "%TARGET%"=="msvc" dir %VISP_DLL_DIR%
-  - if "%TARGET%"=="msvc" ctest --output-on-failure -V
+  - if "%TARGET%"=="msvc" ctest --output-on-failure -j2
 
   # uwp case
-  - if "%TARGET%"=="uwp" cmake -G "Visual Studio 15 2017" -A %platform% -DCMAKE_SYSTEM_NAME="WindowsStore" -DCMAKE_SYSTEM_VERSION="10.0" -DBUILD_DEMOS=OFF -DBUILD_EXAMPLES=OFF -DBUILD_TESTS=OFF -DBUILD_TUTORIALS=OFF ..\visp
+  - if "%TARGET%"=="uwp" cmake -G "Visual Studio 17 2022" -A %platform% -DCMAKE_SYSTEM_NAME="WindowsStore" -DCMAKE_SYSTEM_VERSION="10.0" -DBUILD_DEMOS=OFF -DBUILD_EXAMPLES=OFF -DBUILD_TESTS=OFF -DBUILD_TUTORIALS=OFF ..\visp
   - if "%TARGET%"=="uwp" cmake --build . --config %configuration% -- /m:2
 
   # visp_sample case: ViSP as 3rdparty with cmake
-  - if "%TARGET%"=="visp_sample" dir %OpenCV_DLL_DIR%
-  - if "%TARGET%"=="visp_sample" cmake -G "Visual Studio 15 2017" -A %platform% -DBUILD_DEMOS=OFF -DBUILD_EXAMPLES=OFF -DBUILD_TESTS=OFF -DBUILD_TUTORIALS=OFF ..\visp
+  - if "%TARGET%"=="visp_sample" cmake -G "Visual Studio 17 2022" -A %platform% -DBUILD_DEMOS=OFF -DBUILD_EXAMPLES=OFF -DBUILD_TESTS=OFF -DBUILD_TUTORIALS=OFF ..\visp
   - if "%TARGET%"=="visp_sample" cmake --build . --config %configuration% --target install -- /m:2
   - if "%TARGET%"=="visp_sample" cd C:\projects\deps\visp_sample
   - if "%TARGET%"=="visp_sample" mkdir build
   - if "%TARGET%"=="visp_sample" cd build
-  - if "%TARGET%"=="visp_sample" cmake -G "Visual Studio 15 2017" -A %platform% .. -DVISP_DIR=C:\projects\visp\build\install
+  - if "%TARGET%"=="visp_sample" cmake -G "Visual Studio 17 2022" -A %platform% .. -DVISP_DIR=C:\projects\visp\build\install
   - if "%TARGET%"=="visp_sample" cmake --build . --config %configuration% -- /m:2