Pangolin is useful for visulization. The building process is
git clone https://github.com/stevenlovegrove/Pangolin.git cd Pangolin mkdir build cd build cmake .. cmake --build .
However, we should NOT build in anaconda environment, as cmake cannot find openGL.
There is also a headless rendering mode
export PANGOLIN_WINDOW_URI=headless://, but if we use this we may encounter warning
OpenGL Error 500: GL_INVALID_ENUM: An unacceptable value is specified for an enumerated argument, and we can still get the results.
An sh file could be used to install pangolin, such as this one.