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Overlay time stamp on an image taken by a land rover(robot)

I am making a raspberry pi based land rover which is taking image/video as an image. Rover is able to process the image/video.But now i want to overlay the time stamp on the image taken by the rover. I've tried to do this using MATLAB but the processing is so slow which is affecting speed and other processes of the rover and still the output is not the expected.That's why i'm switching to OPENCV. So can anyone suggest me how can i overlay time stamp on an image using OPENCV ?