diff --git a/ml3d/vis/visualizer.py b/ml3d/vis/visualizer.py
index f9f0c318..11116f5c 100644
--- a/ml3d/vis/visualizer.py
+++ b/ml3d/vis/visualizer.py
@@ -3,8 +3,10 @@
 import numpy as np
 import threading
 import open3d as o3d
-from open3d.visualization import gui
-from open3d.visualization import rendering
+# Allow Open3D import when visualizer is not built or used.
+if o3d._build_config["BUILD_GUI"]:
+    from open3d.visualization import gui
+    from open3d.visualization import rendering
 from collections import deque
 from .boundingbox import *
 from .colormap import *