OpenGL Font Lib
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If you are using QT there is a built in font rendering subsystem, assuming you have a QGLWidget subclass, there is a set of text rendering methods you can call
If you don't find a library, you can always render text on an image using Photoshop and then use it as a texture atlas and display textured squares.
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If you want to use FreeType, I have a simple OpenGL example of how to use it. I am drawing glyphs to a glyph cache that is supported by a texture. Then I draw the text using simple textured squares.
https://github.com/ccxvii/snippets/blob/master/glfont.c
If you don't want to use FreeType, you can trivially replace it with Sean Barret's stb_truetype.h truetype font rasterizer:
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