SAT-HMR: Real-Time Multi-Person 3D Mesh Estimation via Scale-Adaptive Tokens
(CVPR 2025)

Chi Su , Xiaoxuan Ma , Jiajun Su , Yizhou Wang

Overview of SAT-HMR

News 🚩

[2025/02/27] SAT-HMR has been accepted to CVPR 2025!

[2025/02/18] Training/evaluation code and data preparation released!

[2025/01/18] Model released on 🤗HuggingFace!

[2024/11/29] Inference code and weights released. Try inference your images!

TODO ✅

• Provide inference code, support image folder input
• Provide code and data for training or evaluation

Installation

We tested with python 3.11, PyTorch 2.4.1 and CUDA 12.1.

1. Clone the repo and create a conda environment.

git clone https://github.com/ChiSu001/sat-hmr.git
cd sat-hmr
conda create -n sathmr python=3.11 -y
conda activate sathmr

2. Install PyTorch and xFormers.

# Install PyTorch. It is recommended that you follow [official instruction](https://pytorch.org/) and adapt the cuda version to yours.
conda install pytorch==2.4.1 torchvision==0.19.1 torchaudio==2.4.1 pytorch-cuda=12.1 -c pytorch -c nvidia

# Install xFormers. It is recommended that you follow [official instruction](https://github.com/facebookresearch/xformers) and adapt the cuda version to yours.
pip install -U xformers==0.0.28.post1  --index-url https://download.pytorch.org/whl/cu121

3. Install other dependencies.

pip install -r requirements.txt

4. You may need to modify chumpy package to avoid errors. For detailed instructions, please check this guidance.

Download Models & Weights

1. Download SMPL-related weights.

   • Download basicModel_f_lbs_10_207_0_v1.0.0.pkl, basicModel_m_lbs_10_207_0_v1.0.0.pkl, and basicModel_neutral_lbs_10_207_0_v1.0.0.pkl from here (female & male) and here (neutral) to ${Project}/weights/smpl_data/smpl. Please rename them as SMPL_FEMALE.pkl, SMPL_MALE.pkl, and SMPL_NEUTRAL.pkl, respectively.
   • Download others from Google drive and put them to ${Project}/weights/smpl_data/smpl.

2. Download DINOv2 pretrained weights from their official repository. We use ViT-B/14 distilled (without registers). Please put dinov2_vitb14_pretrain.pth to ${Project}/weights/dinov2. These weights will be used to initialize our encoder. You can skip this step if you are not going to train SAT-HMR.

3. Download pretrained weights for inference and evaluation from Google drive or 🤗HuggingFace. Please put them to ${Project}/weights/sat_hmr.

Now the weights directory structure should be like this.

${Project}
|-- weights
    |-- dinov2
        `-- dinov2_vitb14_pretrain.pth
    |-- sat_hmr
        |-- sat_644_3dpw.pth
        |-- sat_644_agora.pth
        `-- sat_644.pth
    `-- smpl_data
        `-- smpl
            |-- body_verts_smpl.npy
            |-- J_regressor_h36m_correct.npy
            |-- SMPL_FEMALE.pkl
            |-- SMPL_MALE.pkl
            |-- smpl_mean_params.npz
            `-- SMPL_NEUTRAL.pkl

Data Preparation

Please follow this guidance to prepare datasets and annotations. You can skip this step if you are not going to train or evaluate SAT-HMR.

We provide the script ${Project}/debug_data.py to verify that the data has been correctly prepared and visualize the GTs:

python debug_data.py

Visualization results will be saved in ${Project}/datasets_visualization.

Inference on Images

Inference with 1 GPU

We provide some demo images in ${Project}/demo. You can run SAT-HMR on all images on a single GPU via:

python main.py --mode infer --cfg demo

Results with overlayed meshes will be saved in ${Project}/demo_results.

You can specify your own inference configuration by modifing ${Project}/configs/run/demo.yaml:

• input_dir specifies the input image folder.
• output_dir specifies the output folder.
• conf_thresh specifies a list of confidence thresholds used for detection. SAT-HMR will run inference using thresholds in the list, respectively.
• infer_batch_size specifies the batch size used for inference (on a single GPU).

Inference with Multiple GPUs

You can also try distributed inference on multiple GPUs if your input folder contains a large number of images. Since we use 🤗 Accelerate to launch our distributed configuration, first you may need to configure 🤗 Accelerate for how the current system is setup for distributed process. To do so run the following command and answer the questions prompted to you:

accelerate config

Then run:

accelerate launch main.py --mode infer --cfg demo

Training

Training with Multiple GPUs

We use 🤗 Accelerate to launch our distributed configuration, first you may need to configure 🤗 Accelerate for how the current system is setup for distributed process. To do so run the following command and answer the questions prompted to you:

accelerate config

To train on all datasets, run:

accelerate launch main.py --mode train --cfg train_all

Note: Training on AGORA and BEDLAM datasets is sufficient to reproduce our results on the AGORA Leaderboard. If you wish to save time and not train on all datasets, you can modify L39-40 in the ${Project}/run/train_all.yaml config file.

Monitor Training Progress

Training logs and checkpoints will be saved in the ${Project}/outputs/logs and ${Project}/outputs/ckpts directories, respectively.

You can monitor the training progress using TensorBoard. To start TensorBoard, run:

tensorboard --logdir=${Project}/outputs/logs

Evaluation

Evaluation with 1 GPU

We provide code for evaluating on AGORA, BEDLAM and 3DPW. Evaluation results will be saved in ${Project}/results/${cfg_name}/evaluation.

# Evaluate on AGORA-val and BEDLAM-val
# AGORA-val: F1: 0.95  MPJPE: 63.0  MVE: 59.0
# BEDLAM-val: F1: 0.98  MPJPE: 48.7  MVE: 46.2
python main.py --mode eval --cfg eval_ab

# Evaluate on 3DPW-test
# 3DPW-test: MPJPE: 63.6  PA-MPJPE: 41.6  MVE: 73.7
python main.py --mode eval --cfg eval_3dpw

# Evaluate on AGORA-test
# AGORA-test: F1: 0.95  MPJPE: 67.9  MVE: 63.3
# This will generate a zip file in `${Project}/results/test_agora/evaluation/agora_test/thresh_0.5`
# which can be submitted to [AGORA Leaderboard](https://agora-evaluation.is.tuebingen.mpg.de/)
python main.py --mode eval --cfg test_agora

Evaluation with Multiple GPUs (faster)

We recommend using a single GPU for evaluation as it provides more accurate results. However, we also provide code for distributed evaluation to obtain results faster.

[2025/08/30] Note: Distributed evaluation can provide accurate results now!!!

# Multi-GPU configuration
accelerate config
# Evaluation
accelerate launch main.py --mode eval --cfg ${cfg_name}

Citing

If you find this code useful for your research, please consider citing our paper:

@InProceedings{Su_2025_CVPR,
    author    = {Su, Chi and Ma, Xiaoxuan and Su, Jiajun and Wang, Yizhou},
    title     = {SAT-HMR: Real-Time Multi-Person 3D Mesh Estimation via Scale-Adaptive Tokens},
    booktitle = {Proceedings of the Computer Vision and Pattern Recognition Conference (CVPR)},
    month     = {June},
    year      = {2025},
    pages     = {16796-16806}
}

Acknowledgement

This repo is built on the excellent work DINOv2, DAB-DETR, DINO and 🤗 Accelerate. Thanks for these great projects.