diff --git a/easymocap/estimator/openpose_wrapper.py b/easymocap/estimator/openpose_wrapper.py
new file mode 100644
index 0000000..3479817
--- /dev/null
+++ b/easymocap/estimator/openpose_wrapper.py
@@ -0,0 +1,347 @@
+'''
+  @ Date: 2021-08-21 14:16:38
+  @ Author: Qing Shuai
+  @ LastEditors: Qing Shuai
+  @ LastEditTime: 2022-05-23 23:10:43
+  @ FilePath: /EasyMocapPublic/easymocap/estimator/openpose_wrapper.py
+'''
+import os
+import shutil
+from tqdm import tqdm
+from .wrapper_base import bbox_from_keypoints, create_annot_file, check_result
+from ..mytools import read_json
+from ..annotator.file_utils import save_annot
+from os.path import join
+import numpy as np
+import cv2
+from glob import glob
+from multiprocessing import Process
+
+def run_openpose(image_root, annot_root, config):
+    os.makedirs(annot_root, exist_ok=True)
+    pwd = os.getcwd()
+    if os.name != 'nt':
+        cmd = './build/examples/openpose/openpose.bin --image_dir {} --write_json {} --display 0'.format(
+            image_root, annot_root)
+    else:
+        cmd = 'bin\\OpenPoseDemo.exe --image_dir {} --write_json {} --display 0'.format(
+            os.path.abspath(image_root), os.path.abspath(annot_root))
+    if config['res'] != 1:
+        cmd = cmd + ' --net_resolution -1x{}'.format(int(16*((368*config['res'])//16)))
+    if config['hand']:
+        cmd = cmd + ' --hand'
+    if config['face']:
+        cmd = cmd + ' --face'
+    if config['vis']:
+        cmd = cmd + ' --write_images {}'.format(annot_root)
+    else:
+        cmd = cmd + ' --render_pose 0'
+    os.chdir(config['root'])
+    print(cmd)
+    os.system(cmd)
+    os.chdir(pwd)
+
+def convert_from_openpose(src, dst, image_root, ext):
+    # convert the 2d pose from openpose
+    inputlist = sorted(os.listdir(src))
+    for inp in tqdm(inputlist, desc='{:10s}'.format(os.path.basename(dst))):
+        annots = load_openpose(join(src, inp))
+        base = inp.replace('_keypoints.json', '')
+        annotname = join(dst, base+'.json')
+        imgname = join(image_root, inp.replace('_keypoints.json', ext))
+        annot = create_annot_file(annotname, imgname)
+        annot['annots'] = annots
+        save_annot(annotname, annot)
+
+global_tasks = []
+
+def extract_2d(image_root, annot_root, tmp_root, config):
+    if check_result(image_root, annot_root):
+        return global_tasks
+    if not check_result(image_root, tmp_root):
+        run_openpose(image_root, tmp_root, config)
+    # TODO: add current task to global_tasks
+    thread = Process(target=convert_from_openpose, 
+        args=(tmp_root, annot_root, image_root, config['ext'])) # 应该不存在任何数据竞争
+    thread.start()
+    global_tasks.append(thread)
+    return global_tasks
+
+def load_openpose(opname):
+    mapname = {
+        'face_keypoints_2d':'face2d', 
+        'hand_left_keypoints_2d':'handl2d', 
+        'hand_right_keypoints_2d':'handr2d'}
+    assert os.path.exists(opname), opname
+    data = read_json(opname)
+    out = []
+    pid = 0
+    for i, d in enumerate(data['people']):
+        keypoints = d['pose_keypoints_2d']
+        keypoints = np.array(keypoints).reshape(-1, 3)
+        annot = {
+            'bbox': bbox_from_keypoints(keypoints),
+            'personID': pid + i,
+            'keypoints': keypoints.tolist(),
+            'isKeyframe': False
+        }
+        bbox = annot['bbox']
+        if bbox[-1] < 0.01:
+            continue
+        annot['area'] = (bbox[2] - bbox[0])*(bbox[3] - bbox[1])
+        for key in mapname.keys():
+            if len(d[key]) == 0:
+                continue
+            kpts = np.array(d[key]).reshape(-1, 3)
+            annot[mapname[key]] = kpts.tolist()
+            annot['bbox_'+mapname[key]] = bbox_from_keypoints(kpts)
+        out.append(annot)
+    out.sort(key=lambda x:-x['area'])
+    for i in range(len(out)):
+        out[i]['personID'] = pid + i
+    return out
+
+def get_crop(image, bbox, rot, scale=1.2):
+    l, t, r, b, _ = bbox
+    cx = (l+r)/2
+    cy = (t+b)/2
+    wx = (r-l)*scale/2
+    wy = (b-t)*scale/2
+    l = cx - wx
+    r = cx + wx
+    t = cy - wy
+    b = cy + wy
+    l = max(0, int(l+0.5))
+    t = max(0, int(t+0.5))
+    r = min(image.shape[1], int(r+0.5))
+    b = min(image.shape[0], int(b+0.5))
+    crop = image[t:b, l:r].copy()
+    crop = np.ascontiguousarray(crop)
+    # rotate the image
+    if rot == 180:
+        crop = cv2.flip(crop, -1)
+    return crop, (l, t)
+
+def transoform_foot(crop_shape, start, rot, keypoints, kpts_old=None):
+    l, t = start
+    if rot == 180:
+        keypoints[..., 0] = crop_shape[1] - keypoints[..., 0] - 1
+        keypoints[..., 1] = crop_shape[0] - keypoints[..., 1] - 1
+    keypoints[..., 0] += l
+    keypoints[..., 1] += t
+    if kpts_old is None:
+        kpts_op = keypoints[0]
+        return kpts_op
+    # 选择最好的
+    kpts_np = np.array(kpts_old)
+    dist = np.linalg.norm(kpts_np[None, :15, :2] - keypoints[:, :15, :2], axis=-1)
+    conf = np.minimum(kpts_np[None, :15, 2], keypoints[:, :15, 2])
+    dist = (dist * conf).sum(axis=-1)/conf.sum(axis=-1)*conf.shape[1]/(conf>0).sum(axis=-1)
+    best = dist.argmin()
+    kpts_op = keypoints[best]
+    # TODO:判断一下关键点
+    # 这里以HRNet的估计为准
+    # WARN: disable feet
+    # 判断OpenPose的脚与HRNet的脚是否重合
+    if (kpts_np[[11, 14], -1] > 0.3).all() and (kpts_op[[11, 14], -1] > 0.3).all():
+        dist_ll = np.linalg.norm(kpts_np[11, :2] - kpts_op[11, :2])
+        dist_rr = np.linalg.norm(kpts_np[14, :2] - kpts_op[14, :2])
+        dist_lr = np.linalg.norm(kpts_np[11, :2] - kpts_op[14, :2])
+        dist_rl = np.linalg.norm(kpts_np[14, :2] - kpts_op[11, :2])
+        if dist_lr < dist_ll and dist_rl < dist_rr:
+            kpts_op[[19, 20, 21, 22, 23, 24]] = kpts_op[[22, 23, 24, 19, 20, 21]]
+    # if (kpts_np[[11, 14], -1] > 0.3).all() and (kpts_op[[19, 22], -1] > 0.3).all():
+    #     if np.linalg.norm(kpts_op[19, :2] - kpts_np[11, :2]) \
+    #         < np.linalg.norm(kpts_op[19, :2] - kpts_np[14, :2])\
+    #         and np.linalg.norm(kpts_op[22, :2] - kpts_np[11, :2]) \
+    #             > np.linalg.norm(kpts_op[22, :2] - kpts_np[14, :2]):
+    #             kpts_op[[19, 20, 21, 22, 23, 24]] = kpts_op[[22, 23, 24, 19, 20, 21]]
+    #             print('[info] swap left and right')
+    # 直接选择第一个
+    kpts_np[19:] = kpts_op[19:]
+    return kpts_np
+
+def filter_feet(kpts):
+    # 判断左脚
+    if (kpts[[13, 14, 19], -1]>0).all():
+        l_feet = ((kpts[[19,20,21],-1]>0)*np.linalg.norm(kpts[[19, 20, 21], :2] - kpts[14, :2], axis=-1)).max()
+        l_leg = np.linalg.norm(kpts[13, :2] - kpts[14, :2])
+        if  l_leg < 1.5 * l_feet:
+            kpts[[19, 20, 21]] = 0.
+            print('[LOG] remove left ankle {} < {}'.format(l_leg, l_feet))
+    # 判断右脚
+    if (kpts[[10, 11], -1]>0).all():
+        l_feet = ((kpts[[22, 23, 24],-1]>0)*np.linalg.norm(kpts[[22, 23, 24], :2] - kpts[11, :2], axis=-1)).max()
+        l_leg = np.linalg.norm(kpts[10, :2] - kpts[11, :2])
+        if l_leg < 1.5 * l_feet:
+            kpts[[22, 23, 24]] = 0.
+            print('[LOG] remove right ankle {} < {}'.format(l_leg, l_feet))
+    return kpts
+
+class FeetEstimatorByCrop:
+    def __init__(self, openpose, tmpdir=None, fullbody=False, hand=False, face=False) -> None:
+        self.openpose = openpose
+        if tmpdir is None:
+            tmpdir = os.path.abspath(join('./', 'tmp'))
+        else:
+            tmpdir = os.path.abspath(tmpdir)
+        self.tmpdir = tmpdir
+        self.fullbody = fullbody
+        self.hand = hand
+        self.face = face
+        if os.path.exists(tmpdir):
+            shutil.rmtree(tmpdir)
+        os.makedirs(join(tmpdir, 'images'), exist_ok=True)
+        self.config = {
+            'root': self.openpose,
+            'res': 1,
+            'hand': hand, # detect hand when in fullbody mode
+            'face': face,
+            'vis': False,
+        }
+
+    def detect_foot(self, image_root, annot_root, ext):
+        # TODO:换成取heatmap的最大值
+        THRES = 0.3
+        imgnames = sorted(glob(join(image_root, '*'+ext)))
+        if len(imgnames) == 0:
+            # 尝试换成png格式
+            ext = '.png'
+            imgnames = sorted(glob(join(image_root, '*'+ext)))
+        infos = {}
+        crop_counts = 0
+        for imgname in tqdm(imgnames, desc='{:10s}'.format(os.path.basename(annot_root))):
+            base = os.path.basename(imgname).replace(ext, '')
+            annotname = join(annot_root, base+'.json')
+            annots = read_json(annotname)
+            image = cv2.imread(imgname)
+            if 'detect_feet' in annots.keys() and annots['detect_feet'] and False:
+                continue
+            infos[base] = {}
+            for i, annot in enumerate(annots['annots']):
+                bbox = annot['bbox']
+                # 判断bbox大小
+                width, height = bbox[2] - bbox[0], bbox[3] - bbox[1]
+                if width < 100 and height < 100:
+                    continue
+                rot = 0
+                if not self.fullbody:
+                    kpts = np.array(annot['keypoints'])
+                    # 判断有没有脚的关键点
+                    if kpts[11][-1] < THRES and kpts[14][-1] < THRES:
+                        continue
+                    # 判断(1, 8)的朝向
+                    if kpts[1][-1] < THRES or kpts[8][-1] < THRES:
+                        continue
+                    dir_1_8 = np.array([kpts[1][0]-kpts[8][0], kpts[1][1]-kpts[8][1]])
+                    dir_1_8 = dir_1_8 / np.linalg.norm(dir_1_8)
+                    if dir_1_8[1] > 0.8:
+                        rot = 180
+                crop, start = get_crop(image, bbox, rot)
+                cropname = join(self.tmpdir, 'images', f'{base}_{i}.jpg')
+                infos[base][i] = {
+                    'crop_shape': crop.shape,
+                    'start': start,
+                    'rot': rot,
+                    'name': f'{base}_{i}.json'
+                }
+                cv2.imwrite(cropname, crop)
+                crop_counts += 1
+        tmp_image_root = join(self.tmpdir, 'images')
+        tmp_annot_root = join(self.tmpdir, 'annots')
+        tmp_tmp_root = join(self.tmpdir, 'openpose')
+        print(len(os.listdir(tmp_image_root)), crop_counts)
+        run_openpose(tmp_image_root, tmp_tmp_root, self.config)
+        convert_from_openpose(tmp_tmp_root, tmp_annot_root, tmp_image_root, '.jpg') # 应该不存在任何数据竞争
+        for imgname in tqdm(imgnames, desc='{:10s}'.format(os.path.basename(annot_root))):
+            base = os.path.basename(imgname).replace(ext, '')
+            annotname = join(annot_root, base+'.json')
+            annots_ori = read_json(annotname)
+            if base not in infos.keys():
+                continue
+            for i, annots in enumerate(annots_ori['annots']):
+                if i not in infos[base].keys():
+                    continue
+                info = infos[base][i]
+                cropname = join(tmp_annot_root, info['name'])
+                if not os.path.exists(cropname):
+                    print('[WARN] {} not exists!'.format(cropname))
+                    continue
+                annots_sub = read_json(cropname)['annots']
+                if len(annots_sub) < 1:
+                    continue
+                keypoints = np.stack([np.array(d['keypoints']) for d in annots_sub])
+                if self.hand or self.face:
+                    for key in ['handl2d', 'handr2d', 'face2d']:
+                        if key in annots_sub[0].keys():
+                            khand = np.array(annots_sub[0][key])[None]
+                            annots[key] = transoform_foot(info['crop_shape'], info['start'], info['rot'], khand, None)
+                            annots['bbox_'+key] = bbox_from_keypoints(annots[key])
+                if self.fullbody:
+                    kpts_np = transoform_foot(info['crop_shape'], info['start'], info['rot'], keypoints, None)
+                else:
+                    kpts = annots['keypoints']
+                    kpts_np = transoform_foot(info['crop_shape'], info['start'], info['rot'], keypoints, kpts)
+                    if False: # WARN: disable filter feet
+                        kpts_np = filter_feet(kpts_np)
+                annots['keypoints'] = kpts_np
+            annots_ori['detect_feet'] = True
+            save_annot(annotname, annots_ori)
+
+class FeetEstimator:
+    def __init__(self, openpose='/media/qing/Project/openpose') -> None:
+        import sys
+        sys.path.append('{}/build_py/python'.format(openpose))
+        from openpose import pyopenpose as op
+        opWrapper = op.WrapperPython()
+        params = dict()
+        params["model_folder"] = "{}/models".format(openpose)
+        opWrapper.configure(params)
+        opWrapper.start()
+        self.wrapper = opWrapper
+        self.rect = op.Rectangle
+        self.datum = op.Datum
+        try:
+            self.vec = op.VectorDatum
+        except:
+            self.vec = lambda x:x
+
+    def detect_foot(self, image_root, annot_root, ext):
+        # TODO:换成取heatmap的最大值
+        THRES = 0.3
+        imgnames = sorted(glob(join(image_root, '*'+ext)))
+        for imgname in tqdm(imgnames, desc='{:10s}'.format(os.path.basename(annot_root))):
+            base = os.path.basename(imgname).replace(ext, '')
+            annotname = join(annot_root, base+'.json')
+            annots = read_json(annotname)
+            image = cv2.imread(imgname)
+            for annot in annots['annots']:
+                bbox = annot['bbox']
+                kpts = np.array(annot['keypoints'])
+                # 判断(1, 8)的朝向
+                if kpts[1][-1] < THRES or kpts[8][-1] < THRES:
+                    continue
+                dir_1_8 = np.array([kpts[1][0]-kpts[8][0], kpts[1][1]-kpts[8][1]])
+                dir_1_8 = dir_1_8 / np.linalg.norm(dir_1_8)
+                if dir_1_8[1] > 0.8:
+                    rot = 180
+                else:
+                    rot = 0
+                kpts = self._detect_with_bbox(image, kpts, bbox, rot=rot)
+                kpts = filter_feet()
+                annot['keypoints'] = kpts
+            save_annot(annotname, annots)
+
+    def _detect_with_bbox(self, image, kpts, bbox, rot=0):
+        crop, start = get_crop(image, bbox, rot)
+        datum = self.datum()
+        datum.cvInputData = crop
+        self.wrapper.emplaceAndPop(self.vec([datum]))
+        # keypoints: (N, 25, 3)
+        keypoints = datum.poseKeypoints
+        if len(keypoints.shape) < 3:
+            print(keypoints)
+            print('Not detect person!')
+            return kpts
+        kpts_np = transoform_foot(crop.shape, start, rot, keypoints, kpts)
+        return kpts_np
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