//  [python]
def forward(self, data):
        """
        Input:
            - corr_pos:   [bs, num_corr, 6]
            - src_keypts: [bs, num_corr, 3]
            - tgt_keypts: [bs, num_corr, 3]
            - testing:    flag for test phase, if False will not calculate M and post-refinement.
        Output: (dict)
            - final_trans:   [bs, 4, 4], the predicted transformation matrix. 
            - final_labels:  [bs, num_corr], the predicted inlier/outlier label (0,1), for classification loss calculation.
            - M:             [bs, num_corr, num_corr], feature similarity matrix, for SM loss calculation.
            - seed_trans:    [bs, num_seeds, 4, 4],  the predicted transformation matrix associated with each seeding point, deprecated.
            - corr_features: [bs, num_corr, num_channels], the feature for each correspondence, for circle loss calculation, deprecated.
            - confidence:    [bs], confidence of returned results, for safe guard, deprecated.
        """
        corr_pos, src_keypts, tgt_keypts = data['corr_pos'], data['src_keypts'], data['tgt_keypts']
        bs, num_corr = corr_pos.shape[0], corr_pos.shape[1]
        testing = 'testing' in data.keys()

        #################################
        # Step1: extract feature for each correspondence
        #################################
        with torch.no_grad():
            src_dist = torch.norm((src_keypts[:, :, None, :] - src_keypts[:, None, :, :]), dim=-1)
            corr_compatibility = src_dist - torch.norm((tgt_keypts[:, :, None, :] - tgt_keypts[:, None, :, :]), dim=-1)
            corr_compatibility = torch.clamp(1.0 - corr_compatibility ** 2 / self.sigma_spat ** 2, min=0)

        corr_features = self.encoder(corr_pos.permute(0,2,1), corr_compatibility).permute(0, 2, 1)
        normed_corr_features = F.normalize(corr_features, p=2, dim=-1)

        if not testing: # during training or validation
            # construct the feature similarity matrix M for loss calculation
            M = torch.matmul(normed_corr_features, normed_corr_features.permute(0, 2, 1))
            M = torch.clamp(1 - (1 - M) / self.sigma ** 2, min=0, max=1)
            # set diagnal of M to zero
            M[:, torch.arange(M.shape[1]), torch.arange(M.shape[1])] = 0
        else:
            M = None 

        #################################
        # Step 2.1: estimate initial confidence by MLP, find highly confident and well-distributed points as seeds.
        #################################
        # confidence = self.cal_leading_eigenvector(M.to(corr_pos.device), method='power')
        confidence = self.classification(corr_features.permute(0, 2, 1)).squeeze(1)
        
        if testing:
            seeds = self.pick_seeds(src_dist, confidence, R=self.nms_radius, max_num=int(num_corr * self.ratio))
        else:
            seeds = torch.argsort(confidence, dim=1, descending=True)[:, 0:int(num_corr * self.ratio)]
            
        
        #################################
        # Step 3 & 4: calculate transformation matrix for each seed, and find the best hypothesis.
        #################################
        seed_trans, seed_fitness, final_trans, final_labels = self.cal_seed_trans(seeds, normed_corr_features, src_keypts, tgt_keypts)

        # post refinement (only used during testing and bs == 1)
        if testing:
            final_trans = self.post_refinement(final_trans, src_keypts, tgt_keypts)

        ## during training, return the initial confidence as logits for classification loss
        ## during testing, return the final labels given by final transformation.
        if not testing:
            final_labels = confidence
        res = {
            "final_trans": final_trans, 
            "final_labels": final_labels, 
            "M": M
        }
        return res