Quick python script to draw a dynamic point cloud with changing colors and positions (e.g. RGBD frames)

drawPointCloud.py

from OpenGL import GL, GLU
from OpenGL.arrays import vbo

# Prepare point cloud once
def makeCloud(self):    
    width, height = self.rgb.shape[1], self.rgb.shape[0] 
    
    # ...
    # Compute 3D positions from depth
    # ...
    # ...
    points = np.dstack((x,y,z)).reshape((height, width, 3)).reshape((height * width, 3))
    colors = self.rgb.reshape((height * width, 3))
    
    # Save to self original data
    self.pos = points.reshape(height * width, 3).astype('float32')
    self.col = colors.reshape(height * width, 3).astype('float32')
    
    # Create VBO
    pos_vbo = vbo.VBO(data=self.pos, usage=GL.GL_DYNAMIC_DRAW, target=GL.GL_ARRAY_BUFFER)
    col_vbo = vbo.VBO(data=self.col, usage=GL.GL_DYNAMIC_DRAW, target=GL.GL_ARRAY_BUFFER)

# Draw a dynamic point cloud with chaning colors and positions (e.g. RGBD)
def drawPointCloud(self):
  
    # Update data
    self.pos_vbo.set_array(self.pos)
    self.col_vbo.set_array(self.col)

    # Point size
    GL.glPointSize(4)

    # Position
    self.pos_vbo.bind()
    GL.glEnableVertexAttribArray(0)
    GL.glVertexAttribPointer(0, 3, GL.GL_FLOAT, GL.GL_FALSE, 0, None)

    # Color
    self.col_vbo.bind()
    GL.glEnableVertexAttribArray(3)
    GL.glVertexAttribPointer(3, 3, GL.GL_FLOAT, GL.GL_FALSE, 0, None)

    # Draw
    GL.glDrawArrays(GL.GL_POINTS, 0, (640 * 480))