If it's C++, stick to Qt. 3D part of your project can be handled by Qt's OpenGL widget.
Choosing WPF path will force you to do some parts in either C# or VB.net (always bad practice).
There isn't much advantage in using WPF with C++.
Besides, the rest of your code is C/C++. suits your needs.
OpenCV, MIL etc are somewhat easier to integrate with Qt rather than making P/Invoke calls with WPF (which will also cause delays due to .Net marshalling).
