将VTK嵌入Qt5，显示动态更新显示自定义点云。

# !/usr/bin/env python
# -*- coding: utf-8 -*-

from PyQt5 import QtCore
from PyQt5.QtWidgets import QWidget, QVBoxLayout
import vtk
from vtk.qt.QVTKRenderWindowInteractor import QVTKRenderWindowInteractor
from numpy import random


class VtkPointCloud:
    def __init__(self, zMin=-10.0, zMax=10.0, maxNumPoints=1e6):
        self.maxNumPoints = maxNumPoints
        self.vtkPolyData = vtk.vtkPolyData()
        self.clearPoints()
        mapper = vtk.vtkPolyDataMapper()
        mapper.SetInputData(self.vtkPolyData)
        mapper.SetColorModeToDefault()
        mapper.SetScalarRange(zMin, zMax)
        mapper.SetScalarVisibility(1)
        self.vtkActor = vtk.vtkActor()
        self.vtkActor.SetMapper(mapper)

    def addPoint(self, point):
        if self.vtkPoints.GetNumberOfPoints() < self.maxNumPoints:
            pointId = self.vtkPoints.InsertNextPoint(point[:])
            self.vtkDepth.InsertNextValue(point[2])
            self.vtkCells.InsertNextCell(1)
            self.vtkCells.InsertCellPoint(pointId)
        else:
            r = random.randint(0, self.maxNumPoints)
            self.vtkPoints.SetPoint(r, point[:])
        self.vtkCells.Modified()
        self.vtkPoints.Modified()
        self.vtkDepth.Modified()

    def clearPoints(self):
        self.vtkPoints = vtk.vtkPoints()
        self.vtkCells = vtk.vtkCellArray()
        self.vtkDepth = vtk.vtkDoubleArray()
        self.vtkDepth.SetName('DepthArray')
        self.vtkPolyData.SetPoints(self.vtkPoints)
        self.vtkPolyData.SetVerts(self.vtkCells)
        self.vtkPolyData.GetPointData().SetScalars(self.vtkDepth)
        self.vtkPolyData.GetPointData().SetActiveScalars('DepthArray')


class VtkPointCloudCanvas(QWidget):
    def __init__(self, *args, **kwargs):
        super(VtkPointCloudCanvas, self).__init__(*args, **kwargs)

        self._layout = QVBoxLayout()
        self.setLayout(self._layout)
        self._vtk_widget = QVTKRenderWindowInteractor(self)
        self._layout.addWidget(self._vtk_widget)

        self._render = vtk.vtkRenderer()
        self._vtk_widget.GetRenderWindow().AddRenderer(self._render)
        self._iren = self._vtk_widget.GetRenderWindow().GetInteractor()

        self._point_cloud = VtkPointCloud()

        self._render.AddActor(self._point_cloud.vtkActor)

        self.show()
        self._iren.Initialize()

    def updatePointCloud(self, data):
        self._point_cloud.clearPoints()
        for k in xrange(1000):
            point = 20 * (random.rand(3) - 0.5)
            self._point_cloud.addPoint(point)
        self._vtk_widget.GetRenderWindow().Render()


if __name__ == '__main__':
    from PyQt5.QtWidgets import QApplication
    import sys
    app = QApplication(sys.argv)
    window = VtkPointCloudCanvas()

    timer = QtCore.QTimer()
    timer.timeout.connect(window.updatePointCloud)
    timer.start(1000)

    sys.exit(app.exec_())

参考：

https://blog.csdn.net/jiongcanguang0115/article/details/80011778

https://stackoverflow.com/questions/7591204/how-to-display-point-cloud-in-vtk-in-different-colors