tricontourf(x, y, z)

See tricontourf.

import matplotlib.pyplot as plt
import numpy as np

plt.style.use('_mpl-gallery-nogrid')

# make data:
np.random.seed(1)
x = np.random.uniform(-3, 3, 256)
y = np.random.uniform(-3, 3, 256)
z = (1 - x/2 + x**5 + y**3) * np.exp(-x**2 - y**2)
levels = np.linspace(z.min(), z.max(), 7)

# plot:
fig, ax = plt.subplots()

ax.plot(x, y, 'o', markersize=2, color='grey')
ax.tricontourf(x, y, z, levels=levels)

ax.set(xlim=(-3, 3), ylim=(-3, 3))

plt.show()