Failed to find service port for display

**Describe the bug**
On mac OS,10.15.1 `Failed to find service port for display` when trying to visualize a ply file.

**To Reproduce**
Steps to reproduce the behavior:
`xzy = np.random.random((100,3))*10`
`pcd = o3d.geometry.PointCloud()`
`pcd.points = o3d.utility.Vector3dVector(xyz)`
`o3d.visualization.draw_geometries([pcd])`

then
```
Traceback (most recent call last):
File "", line 1, in
RuntimeError: [Open3D ERROR] GLFW Error: Cocoa: Failed to find service port for display
```

**Expected behavior**
Expected to visualize the point cloud

**Environment (please complete the following information):**
- OS: [ OSX Catalina]
- Python version: 3.7.3
- Open3D version:0.9.00
- Is this remote workstation?: no
- How did you install Open3D?: pip