参考链接

main.py

import sys
import open3d as o3d
from PyQt5.QtWidgets import QApplication, QMainWindow, QWidget
from PyQt5.QtGui import QWindow
from PyQt5.QtCore import QTimer
import win32gui
import MainWindow

class MainWindows(QMainWindow):
    def __init__(self, parent=None):
        super(MainWindows, self).__init__(parent)
        self.ui = MainWindow.Ui_MainWindow()
        self.ui.setupUi(self)
        self.vis = o3d.visualization.Visualizer()
        self.vis.create_window(visible=False)  # visible=False窗口不显示，避免启动时一闪而过
        self.winid = win32gui.FindWindow('GLFW30', None)
        self.sub_window = QWindow.fromWinId(self.winid)
        self.displayer = QWidget.createWindowContainer(self.sub_window)
        self.ui.gridLayout.addWidget(self.displayer)
        self.clock = QTimer(self)
        self.clock.timeout.connect(self.draw_update)
        self.clock.start(20)
        self.draw_test()

    def draw_test(self):
        pcd = o3d.io.read_point_cloud('output1.ply')  # 点云路径
        self.vis.add_geometry(pcd)
        self.vis.update_geometry(pcd)

    def draw_update(self):
        self.vis.poll_events()
        self.vis.update_renderer()

    def __del__(self):
        # self.clock.stop()      #这一行其实并不需要
        self.vis.destroy_window()


if __name__ == '__main__':
    app = QApplication(sys.argv)
    window = MainWindows()
    window.show()
    sys.exit(app.exec_())

mainWindow.py

# -*- coding: utf-8 -*-

# Form implementation generated from reading ui file 'MainWindow.ui'
#
# Created by: PyQt5 UI code generator 5.15.9
#
# WARNING: Any manual changes made to this file will be lost when pyuic5 is
# run again.  Do not edit this file unless you know what you are doing.


from PyQt5 import QtCore, QtGui, QtWidgets


class Ui_MainWindow(object):
    def setupUi(self, MainWindow):
        MainWindow.setObjectName("MainWindow")
        MainWindow.resize(800, 600)
        self.centralwidget = QtWidgets.QWidget(MainWindow)
        self.centralwidget.setObjectName("centralwidget")
        self.gridLayout_2 = QtWidgets.QGridLayout(self.centralwidget)
        self.gridLayout_2.setObjectName("gridLayout_2")
        self.gridLayout = QtWidgets.QGridLayout()
        self.gridLayout.setObjectName("gridLayout")
        self.gridLayout_2.addLayout(self.gridLayout, 0, 0, 1, 1)
        MainWindow.setCentralWidget(self.centralwidget)
        self.menubar = QtWidgets.QMenuBar(MainWindow)
        self.menubar.setGeometry(QtCore.QRect(0, 0, 800, 22))
        self.menubar.setObjectName("menubar")
        MainWindow.setMenuBar(self.menubar)
        self.statusbar = QtWidgets.QStatusBar(MainWindow)
        self.statusbar.setObjectName("statusbar")
        MainWindow.setStatusBar(self.statusbar)

        self.retranslateUi(MainWindow)
        QtCore.QMetaObject.connectSlotsByName(MainWindow)

    def retranslateUi(self, MainWindow):
        _translate = QtCore.QCoreApplication.translate
        MainWindow.setWindowTitle(_translate("MainWindow", "MainWindow"))

ui文件在下载链接中