I believe this is the easiest and fastest one:
cat file.txt | grep .
If you need to ignore all white-space lines as well then try this:
cat file.txt | grep '\S'
Example:
s="\
\
a\
b\
\
Below is TAB:\
\
Below is space:\
\
c\
\
"; echo "$s" | grep . | wc -l; echo "$s" | grep '\S' | wc -l
outputs
7
5