text: #include <pangolin/pangolin.h>
  
  int main( int /*argc*/, char** /*argv*/ )
  {  
      pangolin::CreateWindowAndBind("Main",640,480);
      glEnable(GL_DEPTH_TEST);
  
      // Define Projection and initial ModelView matrix
      pangolin::OpenGlRenderState s_cam(
          pangolin::ProjectionMatrix(640,480,420,420,320,240,0.2,100),
          pangolin::ModelViewLookAt(-2,2,-2, 0,0,0, pangolin::AxisY)
      );
  
      // Create Interactive View in window
      pangolin::Handler3D handler(s_cam);
      pangolin::View& d_cam = pangolin::CreateDisplay()
              .SetBounds(0.0, 1.0, 0.0, 1.0, -640.0f/480.0f)
              .SetHandler(&handler);
  
      while( !pangolin::ShouldQuit() )
      {
          // Clear screen and activate view to render into
          glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
          d_cam.Activate(s_cam);
  
          // Render OpenGL Cube
          pangolin::glDrawColouredCube();
  
          // Swap frames and Process Events
          pangolin::FinishFrame();
      }
      
      return 0;
  }
  