def METHOD_NAME(self, input: Input) -> Dict[str, Any]:
    assert isinstance(input, tuple), 'only support tuple input'
    assert isinstance(input[0], str) and isinstance(
        input[1], str), 'only support tuple input with str type'
    pcd1_file, pcd2_file = input
    logger.info(f'input pcd file:{pcd1_file},  \n  {pcd2_file}')
    pcd1 = np.load(pcd1_file)
    pcd2 = np.load(pcd2_file)
    self.check_input_pcd(pcd1)
    self.check_input_pcd(pcd2)
    pcd1_torch = torch.from_numpy(pcd1).float().unsqueeze(0).cuda()
    pcd2_torch = torch.from_numpy(pcd2).float().unsqueeze(0).cuda()
    data = {
        'pcd1': pcd1_torch,
        'pcd2': pcd2_torch,
        'pcd1_ori': pcd1,
        'pcd2_ori': pcd2
    }
    return data