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MegaSaM

Project Page | Paper

This code accompanies the paper

MegaSam: Accurate, Fast and Robust Casual Structure and Motion from Casual Dynamic Videos
Zhengqi Li, Richard Tucker, Forrester Cole, Qianqian Wang, Linyi Jin, Vickie Ye, Angjoo Kanazawa, Aleksander Holynski, Noah Snavely

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Clone

Make sure to clone the repository with the submodules by using: git clone --recursive git@github.com:mega-sam/mega-sam.git

Instructions for installing dependencies

Python Environment

The following codebase was successfully run with Python 3.10, CUDA11.8, and Pytorch2.0.1. We suggest installing the library in a virtual environment such as Anaconda.

1. To install main libraries, run:
   conda env create -f environment.yml

2. To install xformers for UniDepth model, follow the instructions from https://github.com/facebookresearch/xformers. If you encounter any installation issue, we suggest installing it from a prebuilt file. For example, for Python 3.10+Cuda11.8+Pytorch2.0.1, run:
   wget https://anaconda.org/xformers/xformers/0.0.22.post7/download/linux-64/xformers-0.0.22.post7-py310_cu11.8.0_pyt2.0.1.tar.bz2

   conda install xformers-0.0.22.post7-py310_cu11.8.0_pyt2.0.1.tar.bz2

3. Compile the extensions for the camera tracking module:
   cd base; python setup.py install

Downloading pretrained checkpoints

1. Download DepthAnything checkpoint to mega-sam/Depth-Anything/checkpoints/depth_anything_vitl14.pth

2. Download and include RAFT checkpoint at mega-sam/cvd_opt/raft-things.pth

Running MegaSaM on Sintel

1. Download and unzip Sintel data

2. Precompute mono-depth (Please modify img-path in the script): ./mono_depth_scripts/run_mono-depth_sintel.sh

3. Run camera tracking (Please modify DATA_PATH in the script. Adding argument --opt_focal to enable focal length optimization): ./tools/evaluate_sintel.sh

4. Running consistent video depth optimization given estimated cameras (Please modify datapath in the script): ./cvd_opt/cvd_opt_sintel.sh

5. Evaluate camera poses and depths:
   python ./evaluations_poses/evaluate_sintel.py

   python ./evaluations_depth/evaluate_depth_ours_sintel.py

Running MegaSaM on DyCheck

1. Download Dycheck data

2. Precompute mono-depth (Please modify img-path in the script): ./mono_depth_scripts/run_mono-depth_dycheck.sh

3. Running camera tracking (Please modify DATA_PATH in the script. Add argument --opt_focal to enable focal length optimization): ./tools/evaluate_dycheck.sh

4. Running consistent video depth optimization given estimated cameras (Please modify datapath in the script): ./cvd_opt/cvd_opt_dycheck.sh

5. Evaluate camera poses and depths:
   python ./evaluations_poses/evaluate_dycheck.py

   python ./evaluations_depth/evaluate_depth_ours_dycheck.py

Running MegaSaM on in-the-wild video, for example from DAVIS videos

1. Download example DAVIS data

2. Precompute mono-depth (Please modify img-path in the script): ./mono_depth_scripts/run_mono-depth_demo.sh

3. Running camera tracking (Please modify DATA_PATH in the script. Add argument --opt_focal to enable focal length optimization): ./tools/evaluate_demo.sh

4. Running consistent video depth optimization given estimated cameras (Please modify datapath in the script): ./cvd_opt/cvd_opt_demo.sh

Contact

For any questions related to our paper, please send email to zl548@cornell.edu.

Bibtex

@inproceedings{li2025megasam,
  title     = {{MegaSaM: Accurate, Fast and Robust Structure and Motion from Casual Dynamic Videos}},
  author    = {Li, Zhengqi and Tucker, Richard and Cole, Forrester and Wang, Qianqian and Jin, Linyi and Ye, Vickie and Kanazawa, Angjoo and Holynski, Aleksander and Snavely, Noah},
  booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},
  year      = {2025}
}

Copyright

Copyright 2025 Google LLC

All software is licensed under the Apache License, Version 2.0 (Apache 2.0); you may not use this file except in compliance with the Apache 2.0 license. You may obtain a copy of the Apache 2.0 license at: https://www.apache.org/licenses/LICENSE-2.0

All other materials are licensed under the Creative Commons Attribution 4.0 International License (CC-BY). You may obtain a copy of the CC-BY license at: https://creativecommons.org/licenses/by/4.0/legalcode

Unless required by applicable law or agreed to in writing, all software and materials distributed here under the Apache 2.0 or CC-BY licenses are distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the licenses for the specific language governing permissions and limitations under those licenses.

This is not an official Google product.