MATLAB code can be found in the 'kitti' folder.
Use the master branch to segment a single image (non-interactively).
Switch to branch 'interactive' to segment a single image interactively. In the interactive window, you can left-click on a polygon to remove it, right-click on a polygon to remove all other polygons (except that one) or press a to switch to an append mode, wherein you can add new polygons. When adding new polygons, you can press esc to start over. To quit the append mode, press esc or enter.
Switch to branch 'full_interactive' to segment multiple images, either non-interactively (i.e. comment out polygons = interactive(img, polygons) - line 511) or interactively (leave as is).
Branch 'bb' is used to refine TensorFlow bounding boxes. Bounding boxes are generated using code from: https://github.com/tensorflow/models/blob/master/research/object_detection/object_detection_tutorial.ipynb, with the backbone changed to 'faster_rcnn_resnet101_kitti' from: https://github.com/tensorflow/models/blob/master/research/object_detection/g3doc/detection_model_zoo.md