facebook/sapiens2-pointmap-5b

Sapiens2-5B-Pointmap

Per-pixel 3D pointmap (x, y, z coordinates per pixel in camera frame).

This repository contains the 5B Pointmap Estimation checkpoint, finetuned from the Sapiens2-5B pretrained backbone.

• —📄 Paper: arXiv:2604.21681
• —🌐 Project Page: rawalkhirodkar.github.io/sapiens2
• —💻 Code: github.com/facebookresearch/sapiens2

Model Details

• —Developed by: Meta
• —Model type: Vision Transformer
• —License: Sapiens2 License
• —Task: pointmap
• —Base model: facebook/sapiens2-pretrain-5b
• —Format: safetensors
• —File: sapiens2_5b_pointmap.safetensors

Quick Start

Install the Sapiens2 repo (pip install -e .), download the checkpoint, and run the demo:

# 1. Download the checkpoint to $SAPIENS_CHECKPOINT_ROOT/pointmap/
hf download facebook/sapiens2-pointmap-5b sapiens2_5b_pointmap.safetensors \
    --local-dir ~/sapiens2_host/pointmap

# 2. Run the demo (edit INPUT, OUTPUT, and MODEL_NAME inside the script)
cd $SAPIENS_ROOT/sapiens/dense
./scripts/demo/pointmap.sh

See the Pointmap Estimation guide for details on inputs, outputs, and visualization options.

Model Card

Sapiens2-Pointmap Family

See the Sapiens2 Collection for all variants and other downstream task checkpoints.

Intended Use

• —Pointmap Estimation on human-centric imagery
• —Research on human-centric vision

License

Released under the Sapiens2 License.

Citation

@article{khirodkarsapiens2,
  title={Sapiens2},
  author={Khirodkar, Rawal and Wen, He and Martinez, Julieta and Dong, Yuan and Su, Zhaoen and Saito, Shunsuke},
  journal={arXiv preprint arXiv:2604.21681},
  year={2026}
}