#include <pangolin/display/display.h>
#include <pangolin/display/view.h>
#include <pangolin/scene/axis.h>
#include <pangolin/scene/scenehandler.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)
    );

    pangolin::Renderable tree;
    for(size_t i=0; i < 10; ++i ) 
    {
        auto axis_i = std::make_shared<pangolin::Axis>();
        axis_i->T_pc = pangolin::OpenGlMatrix::Translate(i*2.0, i*0.1, 0.0);
        tree.Add(axis_i);
    }

    // Create Interactive View in window
    pangolin::SceneHandler handler(tree, s_cam);
    pangolin::View& d_cam = pangolin::CreateDisplay()
            .SetBounds(0.0, 1.0, 0.0, 1.0, -640.0f/480.0f)
            .SetHandler(&handler);

    d_cam.SetDrawFunction([&](pangolin::View& view){
        view.Activate(s_cam);
        tree.Render();
    });

    while( !pangolin::ShouldQuit() )
    {
        // Clear screen and activate view to render into
        glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

        // Swap frames and Process Events
        pangolin::FinishFrame();
    }

    return 0;
}