This is an old revision of the document!
Normally you'd run binvox on your own PC, where it will use your installed graphics card (unless you are using the “exact voxelization” method).
To run binvox on a headless server instead, either:
yum install xorg-x11-server-Xvfb
), then start a virtual screen:Xvfb :99 -screen 0 640x480x24 & setenv DISPLAY :99 (or, if you're running bash, do: export DISPLAY=:99)
After this you can run binvox.
(thanks to @vineet7kumar for figuring this out)