running o3d OffscreenRenderer from jupyter notebook (kernel crash)

### Checklist

- [X] I have searched for [similar issues](https://github.com/isl-org/Open3D/issues).
- [X] For Python issues, I have tested with the [latest development wheel](http://www.open3d.org/docs/latest/getting_started.html#development-version-pip).
- [X] I have checked the [release documentation](http://www.open3d.org/docs/release/) and the [latest documentation](http://www.open3d.org/docs/latest/) (for `master` branch).

### Describe the issue

I am trying to use **OffscreenRenderer** with the **render_to_image** function to create snapshots from **geometry.PointCloud** objects. My code is running OK from python, but crashes the kernel when running from a jupyter environment.

It seems the error comes from the filament layer (SIGSEGV)

Thanks for your help!

### Steps to reproduce the bug

```python
import open3d as o3d

width, height = 512, 512
o3d.visualization.rendering.OffscreenRenderer(width, height)
```

### Error message

Kernel crash.

### Expected behavior

Running without any errors.

### Open3D, Python and System information

```markdown
- Operating system: Ubuntu 18.04
- Python version: Python 3.8
- Open3D version: 0.15.2+3e8cfb6
- System architecture: x86
- Is this a remote workstation?: no
- How did you install Open3D?: pip
```

### Additional information

_No response_