How to see the 3D Semantic Scene?

[Dinghow]

I've installed all the dependencies and successfully trained and tested this project (which took me a huge effort). However, I wonder how to show the semantic scene like your illustration:

I set the argument --kfusion=True when I run test_net.py, It helps noting, and I see the code is:

    if args.kfusion:
        gpu_options = tf.GPUOptions(per_process_gpu_memory_fraction=0.2)
        sess = tf.Session(config=tf.ConfigProto(allow_soft_placement=True, gpu_options=gpu_options))
    else:
        sess = tf.Session(config=tf.ConfigProto(allow_soft_placement=True))

How's it works, and how can I get the semantic scene?