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.