Args: box_scores (N, 5): boxes in corner-form(x1, y1, x2, y2) and probabilities. iou_threshold: intersection over union threshold. top_k: keep top_k results. If k <= 0, keep all the results. candidate_size: only consider the candidates with the highest scores.
(boxes, scores, iou_threshold, top_k=-1, candidate_size=200)
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