diff --git a/SofaGLFW/src/SofaGLFW/NullGUIEngine.cpp b/SofaGLFW/src/SofaGLFW/NullGUIEngine.cpp
index 306106d15b..8f8130b287 100644
--- a/SofaGLFW/src/SofaGLFW/NullGUIEngine.cpp
+++ b/SofaGLFW/src/SofaGLFW/NullGUIEngine.cpp
@@ -29,19 +29,42 @@ namespace sofaglfw
     
 void NullGUIEngine::init()
 {
-    
+    m_lastTime = glfwGetTime();
+    m_lastDisplayTime = m_lastTime;
+    m_avgFrameTime = 0.0;
 }
-void NullGUIEngine::initBackend(GLFWwindow*)
+void NullGUIEngine::initBackend(GLFWwindow* window)
 {
-    
+    m_window = window;
 }
 void NullGUIEngine::startFrame(SofaGLFWBaseGUI*)
 {
-    
 }
 void NullGUIEngine::endFrame()
 {
-    
+    constexpr double displayRefreshInterval = 0.1;
+    constexpr double smoothingFactor = 0.05;
+
+    const double now = glfwGetTime();
+    const double dt = now - m_lastTime;
+    m_lastTime = now;
+
+    if (dt > 0.0)
+    {
+        if (m_avgFrameTime <= 0.0)
+            m_avgFrameTime = dt;
+        else
+            m_avgFrameTime += smoothingFactor * (dt - m_avgFrameTime);
+    }
+
+    if (now - m_lastDisplayTime >= displayRefreshInterval)
+    {
+        const double fps = (m_avgFrameTime > 0.0) ? 1.0 / m_avgFrameTime : 0.0;
+        char title_string[32];
+        std::snprintf(title_string, sizeof(title_string), "FPS: %.1f", fps);
+        glfwSetWindowTitle(m_window, title_string);
+        m_lastDisplayTime = now;
+    }
 }
 
 void NullGUIEngine::beforeDraw(GLFWwindow* window)
diff --git a/SofaGLFW/src/SofaGLFW/NullGUIEngine.h b/SofaGLFW/src/SofaGLFW/NullGUIEngine.h
index b33c543c3b..e39140fa99 100644
--- a/SofaGLFW/src/SofaGLFW/NullGUIEngine.h
+++ b/SofaGLFW/src/SofaGLFW/NullGUIEngine.h
@@ -44,6 +44,11 @@ class NullGUIEngine : public BaseGUIEngine
     bool dispatchMouseEvents() override;
     void resetCounter() override;
     sofa::type::Vec2i getFrameBufferPixels(std::vector<uint8_t>& pixels) override;
+private:
+    GLFWwindow* m_window{ nullptr };
+    double m_lastTime{ 0.0 };
+    double m_lastDisplayTime{ 0.0 };
+    double m_avgFrameTime{ 0.0 };
 };
 
 } // namespace sofaglfw
diff --git a/SofaImGui/CMakeLists.txt b/SofaImGui/CMakeLists.txt
index fb86e73562..d7e5c1368c 100644
--- a/SofaImGui/CMakeLists.txt
+++ b/SofaImGui/CMakeLists.txt
@@ -150,8 +150,12 @@ set(IMGUI_SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/resources ${imgui_SOURCE_DIR} $
 add_library(${PROJECT_NAME} SHARED ${HEADER_FILES} ${SOURCE_FILES} ${IMGUI_SOURCE_FILES})
 target_include_directories(${PROJECT_NAME} PUBLIC "$<BUILD_INTERFACE:${IMGUI_SOURCE_DIR}>")
 target_link_libraries(${PROJECT_NAME} PUBLIC SofaGLFW Sofa.GL.Component.Rendering3D ${CMAKE_DL_LIBS})
-target_link_libraries(${PROJECT_NAME} PRIVATE nfd)
 target_link_libraries(${PROJECT_NAME} PRIVATE SimpleIni::SimpleIni)
+if (EXISTS nfd)
+    target_link_libraries(${PROJECT_NAME} PRIVATE nfd)
+else()
+    target_link_libraries(${PROJECT_NAME} PRIVATE nfd::nfd)
+endif()
 
 # setup the same API exports for imgui
 target_compile_definitions(${PROJECT_NAME} PUBLIC IMGUI_API=SOFAIMGUI_API)