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Sort and select top k boxes according to the scores.

boxes a tensor of shape [batch_size, N, 4] representing the coordinate of the boxes. N is the number of boxes per image.
scores a tensor of shsape [batch_size, N] representing the socre of the boxes.
k an integer or a tensor indicating the top k number.

selected_boxes a tensor of shape [batch_size, k, 4] representing the selected top k box coordinates.
selected_scores a tensor of shape [batch_size, k] representing the selected top k box scores.