About train on ApolloScape dataset

[westlife35]

1，Could you please release the code of training on ApolloScape dataset？or the model trained on ApolloScape dataset
2，In paper，saying: "use BFMatcher with L2 distance to get frustum overlap theta1 and theta2. I can only get one theta with using BFMatcher with L2 distance. So how to get theta2 ? And is there any mask used when using BFMatcher?

thanks~