diff --git a/doc/log.md b/doc/log.md
index fb0b330..ef5046d 100644
--- a/doc/log.md
+++ b/doc/log.md
@@ -2,12 +2,22 @@
  * @Date: 2021-01-24 22:30:40
  * @Author: Qing Shuai
  * @LastEditors: Qing Shuai
- * @LastEditTime: 2021-01-24 22:32:53
+ * @LastEditTime: 2021-05-27 21:10:07
  * @FilePath: /EasyMocapRelease/doc/log.md
 -->
-## 2020.01.24
+## 2021.01.24
 1. Support SMPL+H, SMPL-X model.
 2. Upgrade `body_model.py`.
 3. Update the optimization functions.
 4. Add checking length of limb
-5. Update the example figures.
\ No newline at end of file
+5. Update the example figures.
+
+## 2021.04.13
+1. Add mirrored-human code.
+2. Add `calibration` and `annotator`
+3. Add `setup.py`
+
+## 2021.05.27
+1. Remove the `code/` folder
+2. Add the support for mano model
+3. Add `--write_smpl_full` flag
\ No newline at end of file
diff --git a/easymocap/dataset/base.py b/easymocap/dataset/base.py
index c09b7e9..bd6c05b 100644
--- a/easymocap/dataset/base.py
+++ b/easymocap/dataset/base.py
@@ -2,11 +2,10 @@
   @ Date: 2021-01-13 16:53:55
   @ Author: Qing Shuai
   @ LastEditors: Qing Shuai
-  @ LastEditTime: 2021-04-13 15:59:35
-  @ FilePath: /EasyMocap/easymocap/dataset/base.py
+  @ LastEditTime: 2021-05-27 20:37:55
+  @ FilePath: /EasyMocapRelease/easymocap/dataset/base.py
 '''
 import os
-import json
 from os.path import join
 from glob import glob
 import cv2
@@ -14,13 +13,13 @@ import os, sys
 import numpy as np
 
 from ..mytools.camera_utils import read_camera, get_fundamental_matrix, Undistort
-from ..mytools import FileWriter, read_annot, getFileList
-from ..mytools.reader import read_keypoints3d, read_json
+from ..mytools import FileWriter, read_annot, getFileList, save_json
+from ..mytools.reader import read_keypoints3d, read_json, read_smpl
 # from ..mytools.writer import FileWriter
 # from ..mytools.camera_utils import read_camera, undistort, write_camera, get_fundamental_matrix
 # from ..mytools.vis_base import merge, plot_bbox, plot_keypoints
 # from ..mytools.file_utils import read_json, save_json, read_annot, read_smpl, write_smpl, get_bbox_from_pose
-# from ..mytools.file_utils import merge_params, select_nf, getFileList
+from ..mytools.file_utils import merge_params, select_nf
 
 def crop_image(img, annot, vis_2d=False, config={}, crop_square=True):
     for det in annot:
@@ -74,8 +73,6 @@ class ImageFolder:
                 self.imagelist.extend(images)
                 annots = sorted([join(sub, i) for i in os.listdir(join(self.annot_root, sub))])
                 self.annotlist.extend(annots)
-        # output
-        assert out is not None
         self.out = out
         self.writer = FileWriter(self.out, config=config)
         self.gtK, self.gtRT = False, False
@@ -132,6 +129,10 @@ class ImageFolder:
     def write_keypoints3d(self, results, nf):
         outname = join(self.out, 'keypoints3d', '{}.json'.format(self.basename(nf)))
         self.writer.write_keypoints3d(results, outname)
+    
+    def write_vertices(self, results, nf):
+        outname = join(self.out, 'vertices', '{}.json'.format(self.basename(nf)))
+        self.writer.write_vertices(results, outname)
         
     def write_smpl(self, results, nf):
         outname = join(self.out, 'smpl', '{}.json'.format(self.basename(nf)))
@@ -144,20 +145,21 @@ class ImageFolder:
             camera[key] = camera[key][None, :, :]
         self.writer.vis_smpl(render_data, images, camera, outname, add_back=True)
 
-class VideoFolder(ImageFolder):
-    "一段视频的图片的文件夹"
-    def __init__(self, root, name, out=None, 
-        image_root='images', annot_root='annots', 
-        kpts_type='body15', config={}, no_img=False) -> None:
-        self.root = root
-        self.image_root = join(root, image_root, name)
-        self.annot_root = join(root, annot_root, name)
-        self.name = name
-        self.kpts_type = kpts_type
-        self.no_img = no_img
-        self.imagelist = sorted(os.listdir(self.image_root))
-        self.annotlist = sorted(os.listdir(self.annot_root))
-        self.ret_crop = False
+# class VideoFolder(ImageFolder):
+#     "一段视频的图片的文件夹"
+#     def __init__(self, root, name, out=None, 
+#         image_root='images', annot_root='annots', 
+#         kpts_type='body15', config={}, no_img=False) -> None:
+#         self.root = root
+#         self.image_root = join(root, image_root, name)
+#         self.annot_root = join(root, annot_root, name)
+#         self.name = name
+#         self.kpts_type = kpts_type
+#         self.no_img = no_img
+#         self.imagelist = sorted(os.listdir(self.image_root))
+#         self.annotlist = sorted(os.listdir(self.annot_root))
+#         self.ret_crop = False
+#         self.gtK, self.gtRT = False, False
 
     def load_annot_all(self, path):
         # 这个不使用personID，只是单纯的罗列一下
@@ -363,7 +365,10 @@ def load_cameras(path):
         print('\n\n!!!there is no camera parameters, maybe bug: \n', intri_name, extri_name, '\n')
         cameras = None
     return cameras
-    
+
+def numpy_to_list(array, precision=3):
+    return np.round(array, precision).tolist()
+
 class MVBase:
     """ Dataset for multiview data
     """
@@ -498,24 +503,33 @@ class MVBase:
             images = [images[i] for i in valid_idx]
             lDetections = [lDetections[i] for i in valid_idx]
         return self.writer.vis_keypoints2d_mv(images, lDetections, outname=outname, vis_id=False)
-
-    def vis_match(self, images, lDetections, nf, to_img=True, sub_vis=[]):
-        if len(sub_vis) != 0:
-            valid_idx = [self.cams.index(i) for i in sub_vis]
-            images = [images[i] for i in valid_idx]
-            lDetections = [lDetections[i] for i in valid_idx]
-        return self.writer.vis_detections(images, lDetections, nf, 
-            key='match', to_img=to_img, vis_id=True)
     
     def basename(self, nf):
         return '{:06d}'.format(nf)
 
+    def write_keypoints2d(self, lDetections, nf):
+        for nv in range(len(lDetections)):
+            cam = self.cams[nv]
+            annname = join(self.annot_root, cam, self.annotlist[cam][nf])
+            outname = join(self.out, 'keypoints2d', cam, self.annotlist[cam][nf])
+            annot_origin = read_json(annname)
+            annots = lDetections[nv]
+            results = []
+            for annot in annots:
+                results.append({
+                    'personID': annot['id'],
+                    'bbox': numpy_to_list(annot['bbox'], 2),
+                    'keypoints': numpy_to_list(annot['keypoints'], 2)
+                })
+            annot_origin['annots'] = results
+            save_json(outname, annot_origin)
+
     def write_keypoints3d(self, results, nf):
         outname = join(self.out, 'keypoints3d', self.basename(nf)+'.json')
         self.writer.write_keypoints3d(results, outname)
 
-    def write_smpl(self, results, nf):
-        outname = join(self.out, 'smpl', self.basename(nf)+'.json')
+    def write_smpl(self, results, nf, mode='smpl'):
+        outname = join(self.out, mode, self.basename(nf)+'.json')
         self.writer.write_smpl(results, outname)
 
     def vis_smpl(self, peopleDict, faces, images, nf, sub_vis=[], 
diff --git a/easymocap/dataset/config.py b/easymocap/dataset/config.py
index 7cf1ad7..bc23009 100644
--- a/easymocap/dataset/config.py
+++ b/easymocap/dataset/config.py
@@ -2,7 +2,7 @@
  * @ Date: 2020-09-26 16:52:55
  * @ Author: Qing Shuai
   @ LastEditors: Qing Shuai
-  @ LastEditTime: 2021-04-03 18:30:13
+  @ LastEditTime: 2021-05-27 14:33:03
   @ FilePath: /EasyMocap/easymocap/dataset/config.py
 '''
 import numpy as np
@@ -197,6 +197,9 @@ CONFIG['hand'] = {'kintree':
         'y', 'y', 'y', 'y']
 }
 
+CONFIG['handl'] = CONFIG['hand']
+CONFIG['handr'] = CONFIG['hand']
+
 CONFIG['bodyhand'] = {'kintree':
    [[ 1,  0],
     [ 2,  1],
@@ -673,6 +676,8 @@ CONFIG['total']['nJoints'] = 137
 
 COCO17_IN_BODY25 = [0,16,15,18,17,5,2,6,3,7,4,12,9,13,10,14,11]
 
+CONFIG['bodyhandface']['joint_names'] = CONFIG['body25']['joint_names']
+
 def coco17tobody25(points2d):
     dim = 3
     if len(points2d.shape) == 2:
diff --git a/easymocap/dataset/mv1pmf.py b/easymocap/dataset/mv1pmf.py
index 1bedc77..aaf2a5b 100644
--- a/easymocap/dataset/mv1pmf.py
+++ b/easymocap/dataset/mv1pmf.py
@@ -2,7 +2,7 @@
   @ Date: 2021-01-12 17:12:50
   @ Author: Qing Shuai
   @ LastEditors: Qing Shuai
-  @ LastEditTime: 2021-04-13 10:59:22
+  @ LastEditTime: 2021-05-27 20:25:24
   @ FilePath: /EasyMocap/easymocap/dataset/mv1pmf.py
 '''
 from ..mytools.file_utils import get_bbox_from_pose
@@ -25,10 +25,10 @@ class MV1PMF(MVBase):
         results = [{'id': self.pid, 'keypoints3d': keypoints3d}]
         super().write_keypoints3d(results, nf)
 
-    def write_smpl(self, params, nf):
+    def write_smpl(self, params, nf, mode='smpl'):
         result = {'id': 0}
         result.update(params)
-        super().write_smpl([result], nf)
+        super().write_smpl([result], nf, mode)
 
     def vis_smpl(self, vertices, faces, images, nf, sub_vis=[], 
         mode='smpl', extra_data=[], add_back=True):
@@ -42,7 +42,7 @@ class MV1PMF(MVBase):
         if len(sub_vis) == 0:
             sub_vis = self.cams
         for key in cameras.keys():
-            cameras[key] = [self.cameras[cam][key] for cam in sub_vis]
+            cameras[key] = np.stack([self.cameras[cam][key] for cam in sub_vis])
         images = [images[self.cams.index(cam)] for cam in sub_vis]
         self.writer.vis_smpl(render_data, images, cameras, outname, add_back=add_back)
     
@@ -57,7 +57,7 @@ class MV1PMF(MVBase):
             lDetections.append([det])
         return super().vis_detections(images, lDetections, nf, sub_vis=sub_vis)
 
-    def vis_repro(self, images, kpts_repro, nf, to_img=True, sub_vis=[]):
+    def vis_repro(self, images, kpts_repro, nf, to_img=True, sub_vis=[], mode='repro'):
         lDetections = []
         for nv in range(len(images)):
             det = {
@@ -66,7 +66,7 @@ class MV1PMF(MVBase):
                 'bbox': get_bbox_from_pose(kpts_repro[nv], images[nv])
             }
             lDetections.append([det])
-        return super().vis_detections(images, lDetections, nf, mode='repro', sub_vis=sub_vis)
+        return super().vis_detections(images, lDetections, nf, mode=mode, sub_vis=sub_vis)
 
     def __getitem__(self, index: int):
         images, annots_all = super().__getitem__(index)
diff --git a/easymocap/mytools/camera_utils.py b/easymocap/mytools/camera_utils.py
index 74b4cb5..0c3d8c9 100644
--- a/easymocap/mytools/camera_utils.py
+++ b/easymocap/mytools/camera_utils.py
@@ -1,6 +1,5 @@
 import cv2
 import numpy as np
-from tqdm import tqdm
 import os
 
 class FileStorage(object):
@@ -53,10 +52,6 @@ class FileStorage(object):
     def close(self):
         self.__del__(self)
 
-def safe_mkdir(path):
-    if not os.path.exists(path):
-        os.makedirs(path)
-
 def read_intri(intri_name):
     assert os.path.exists(intri_name), intri_name
     intri = FileStorage(intri_name)
@@ -145,6 +140,14 @@ def write_camera(camera, path):
         extri.write('Rot_{}'.format(key), val['R'])
         extri.write('T_{}'.format(key), val['T'])
 
+def camera_from_img(img):
+    height, width = img.shape[0], img.shape[1]
+    # focal = 1.2*max(height, width) # as colmap
+    focal = 1.2*min(height, width) # as colmap
+    K = np.array([focal, 0., width/2, 0., focal, height/2, 0. ,0., 1.]).reshape(3, 3)
+    camera = {'K':K ,'R': np.eye(3), 'T': np.zeros((3, 1)), 'dist': np.zeros((1, 5))}
+    return camera
+
 class Undistort:
     @staticmethod
     def image(frame, K, dist):
@@ -169,84 +172,8 @@ class Undistort:
 
 def undistort(camera, frame=None, keypoints=None, output=None, bbox=None):
     # bbox: 1, 7
-    mtx = camera['K']
-    dist = camera['dist']
-    if frame is not None:
-        frame = cv2.undistort(frame, mtx, dist, None)
-    if output is not None:
-        output = cv2.undistort(output, mtx, dist, None)
-    if keypoints is not None:
-        for nP in range(keypoints.shape[0]):
-            kpts = keypoints[nP][:, None, :2]
-            kpts = np.ascontiguousarray(kpts)
-            kpts = cv2.undistortPoints(kpts, mtx, dist, P=mtx)
-            keypoints[nP, :, :2] = kpts[:, 0]
-    if bbox is not None:
-        kpts = np.zeros((2, 1, 2))
-        kpts[0, 0, 0] = bbox[0]
-        kpts[0, 0, 1] = bbox[1]
-        kpts[1, 0, 0] = bbox[2]
-        kpts[1, 0, 1] = bbox[3]
-        kpts = cv2.undistortPoints(kpts, mtx, dist, P=mtx)
-        bbox[0] = kpts[0, 0, 0]
-        bbox[1] = kpts[0, 0, 1]
-        bbox[2] = kpts[1, 0, 0]
-        bbox[3] = kpts[1, 0, 1]
-        return bbox
-    return frame, keypoints, output
-
-def get_bbox(points_set, H, W, thres=0.1, scale=1.2):
-    bboxes = np.zeros((points_set.shape[0], 6))
-    for iv in range(points_set.shape[0]):
-        pose = points_set[iv, :, :]
-        use_idx = pose[:,2] > thres
-        if np.sum(use_idx) < 1:
-            continue
-        ll, rr = np.min(pose[use_idx, 0]), np.max(pose[use_idx, 0])
-        bb, tt = np.min(pose[use_idx, 1]), np.max(pose[use_idx, 1])
-        center = (int((ll + rr) / 2), int((bb + tt) / 2))
-        length = [int(scale*(rr-ll)/2), int(scale*(tt-bb)/2)]
-        l = max(0, center[0] - length[0])
-        r = min(W, center[0] + length[0]) # img.shape[1]
-        b = max(0, center[1] - length[1])
-        t = min(H, center[1] + length[1]) # img.shape[0]
-        conf = pose[:, 2].mean()
-        cls_conf = pose[use_idx, 2].mean()
-        bboxes[iv, 0] = l
-        bboxes[iv, 1] = r
-        bboxes[iv, 2] = b
-        bboxes[iv, 3] = t
-        bboxes[iv, 4] = conf
-        bboxes[iv, 5] = cls_conf
-    return bboxes
-
-def filterKeypoints(keypoints, thres = 0.1, min_width=40, \
-    min_height=40, min_area= 50000, min_count=6):
-    add_list = []
-    # TODO:并行化
-    for ik in range(keypoints.shape[0]):
-        pose = keypoints[ik]
-        vis_count = np.sum(pose[:15, 2] > thres)  #TODO:
-        if vis_count < min_count:
-            continue
-        ll, rr = np.min(pose[pose[:,2]>thres,0]), np.max(pose[pose[:,2]>thres,0])
-        bb, tt = np.min(pose[pose[:,2]>thres,1]), np.max(pose[pose[:,2]>thres,1])
-        center = (int((ll+rr)/2), int((bb+tt)/2))
-        length = [int(1.2*(rr-ll)/2), int(1.2*(tt-bb)/2)]
-        l = center[0] - length[0]
-        r = center[0] + length[0]
-        b = center[1] - length[1]
-        t = center[1] + length[1]
-        if (r - l) < min_width:
-            continue
-        if (t - b) < min_height:
-            continue
-        if (r - l)*(t - b) < min_area:
-            continue
-        add_list.append(ik)
-    keypoints = keypoints[add_list, :, :]
-    return keypoints, add_list
-
+    print('This function is deprecated')
+    raise NotImplementedError
 
 def get_fundamental_matrix(cameras, basenames):
     skew_op = lambda x: np.array([[0, -x[2], x[1]], [x[2], 0, -x[0]], [-x[1], x[0], 0]])
diff --git a/easymocap/mytools/cmd_loader.py b/easymocap/mytools/cmd_loader.py
index 2f9630d..b0eb5ea 100644
--- a/easymocap/mytools/cmd_loader.py
+++ b/easymocap/mytools/cmd_loader.py
@@ -2,7 +2,7 @@
   @ Date: 2021-01-15 12:09:27
   @ Author: Qing Shuai
   @ LastEditors: Qing Shuai
-  @ LastEditTime: 2021-04-13 19:45:18
+  @ LastEditTime: 2021-05-27 20:36:42
   @ FilePath: /EasyMocapRelease/easymocap/mytools/cmd_loader.py
 '''
 import os
@@ -12,9 +12,11 @@ def load_parser():
     parser = argparse.ArgumentParser('EasyMocap commond line tools')
     parser.add_argument('path', type=str)
     parser.add_argument('--out', type=str, default=None)
+    parser.add_argument('--camera', type=str, default=None)
     parser.add_argument('--annot', type=str, default='annots', help="sub directory name to store the generated annotation files, default to be annots")
     parser.add_argument('--sub', type=str, nargs='+', default=[],
         help='the sub folder lists when in video mode')
+    parser.add_argument('--from_file', type=str, default=None)
     parser.add_argument('--pid', type=int, nargs='+', default=[0],
         help='the person IDs')
     parser.add_argument('--max_person', type=int, default=-1,
@@ -28,8 +30,8 @@ def load_parser():
     # 
     # keypoints and body model
     # 
-    parser.add_argument('--body', type=str, default='body25', choices=['body15', 'body25', 'h36m', 'bodyhand', 'bodyhandface', 'total'])
-    parser.add_argument('--model', type=str, default='smpl', choices=['smpl', 'smplh', 'smplx', 'mano'])
+    parser.add_argument('--body', type=str, default='body25', choices=['body15', 'body25', 'h36m', 'bodyhand', 'bodyhandface', 'handl', 'handr', 'total'])
+    parser.add_argument('--model', type=str, default='smpl', choices=['smpl', 'smplh', 'smplx', 'manol', 'manor'])
     parser.add_argument('--gender', type=str, default='neutral', 
         choices=['neutral', 'male', 'female'])
     # Input control
@@ -50,17 +52,22 @@ def load_parser():
     # 
     # visualization part
     # 
-    parser.add_argument('--vis_det', action='store_true')
-    parser.add_argument('--vis_repro', action='store_true')
-    parser.add_argument('--vis_smpl', action='store_true')
-    parser.add_argument('--undis', action='store_true')
-    parser.add_argument('--sub_vis', type=str, nargs='+', default=[],
+    output = parser.add_argument_group('Output control')
+    output.add_argument('--vis_det', action='store_true')
+    output.add_argument('--vis_repro', action='store_true')
+    output.add_argument('--vis_smpl', action='store_true')
+    output.add_argument('--write_smpl_full', action='store_true')
+    output.add_argument('--vis_mask', action='store_true')
+    output.add_argument('--undis', action='store_true')
+    output.add_argument('--sub_vis', type=str, nargs='+', default=[],
         help='the sub folder lists for visualization')
     # 
     # debug
     # 
     parser.add_argument('--verbose', action='store_true')
     parser.add_argument('--save_origin', action='store_true')
+    parser.add_argument('--restart', action='store_true')
+    parser.add_argument('--no_opt', action='store_true')
     parser.add_argument('--debug', action='store_true')
     parser.add_argument('--opts',
                         help="Modify config options using the command-line",
@@ -82,6 +89,21 @@ def parse_parser(parser):
         print(' - [Warning] Please specify the output path `--out ${out}`')
         print(' - [Warning] Default to {}/output'.format(args.path))
         args.out = join(args.path, 'output')
+    if args.from_file is not None:
+        assert os.path.exists(args.from_file), args.from_file
+        with open(args.from_file) as f:
+            datas = f.readlines()
+            subs = [d for d in datas if not d.startswith('#')]
+            subs = [d.rstrip().replace('https://www.youtube.com/watch?v=', '') for d in subs]
+        newsubs = sorted(os.listdir(join(args.path, 'images')))
+        clips = []
+        for newsub in newsubs:
+            if newsub.split('+')[0] in subs:
+                clips.append(newsub)
+        for sub in subs:
+            if os.path.exists(join(args.path, 'images', sub)):
+                clips.append(sub)
+        args.sub = clips
     if len(args.sub) == 0 and os.path.exists(join(args.path, 'images')):
         args.sub = sorted(os.listdir(join(args.path, 'images')))
         if args.sub[0].isdigit():
diff --git a/easymocap/mytools/file_utils.py b/easymocap/mytools/file_utils.py
index 151002f..ed5c48c 100644
--- a/easymocap/mytools/file_utils.py
+++ b/easymocap/mytools/file_utils.py
@@ -2,8 +2,8 @@
   @ Date: 2021-03-15 12:23:12
   @ Author: Qing Shuai
   @ LastEditors: Qing Shuai
-  @ LastEditTime: 2021-04-01 16:17:34
-  @ FilePath: /EasyMocap/easymocap/mytools/file_utils.py
+  @ LastEditTime: 2021-05-27 20:50:43
+  @ FilePath: /EasyMocapRelease/easymocap/mytools/file_utils.py
 '''
 import os
 import json
@@ -64,6 +64,13 @@ def read_annot(annotname, mode='body25'):
             data[i]['keypoints'] = data[i]['keypoints']
         elif mode == 'body15':
             data[i]['keypoints'] = data[i]['keypoints'][:15, :]
+        elif mode in ['handl', 'handr']:
+            data[i]['keypoints'] = np.array(data[i][mode+'2d']).astype(np.float32)
+            key = 'bbox_'+mode+'2d'
+            if key not in data[i].keys():
+                data[i]['bbox'] = np.array(get_bbox_from_pose(data[i]['keypoints'])).astype(np.float32)
+            else:
+                data[i]['bbox'] = data[i]['bbox_'+mode+'2d'][:5]
         elif mode == 'total':
             data[i]['keypoints'] = np.vstack([data[i][key] for key in ['keypoints', 'handl2d', 'handr2d', 'face2d']])
         elif mode == 'bodyhand':
@@ -75,42 +82,70 @@ def read_annot(annotname, mode='body25'):
     data.sort(key=lambda x:x['id'])
     return data
 
-def write_common_results(dumpname, results, keys, fmt='%.3f'):
-    mkout(dumpname)
+def array2raw(array, separator=' ', fmt='%.3f'):
+    assert len(array.shape) == 2, 'Only support MxN matrix, {}'.format(array.shape)
+    res = []
+    for data in array:
+        res.append(separator.join([fmt%(d) for d in data]))
+    
+    
+def myarray2string(array, separator=', ', fmt='%.3f'):
+    assert len(array.shape) == 2, 'Only support MxN matrix, {}'.format(array.shape)
+    res = ['[']
+    for i in range(array.shape[0]):
+        res.append('            [{}]'.format(separator.join([fmt%(d) for d in array[i]])))
+        if i != array.shape[0] -1:
+            res[-1] += ', '
+    res.append('        ]')
+    return '\r\n'.join(res)
+
+def write_common_results(dumpname=None, results=[], keys=[], fmt='%2.3f'):
     format_out = {'float_kind':lambda x: fmt % x}
-    with open(dumpname, 'w') as f:
-        f.write('[\n')
-        for idata, data in enumerate(results):
-            f.write('    {\n')
-            output = {}
-            output['id'] = data['id']
-            for key in keys:
-                if key not in data.keys():continue
-                output[key] = np.array2string(data[key], max_line_width=1000, separator=', ', formatter=format_out)
-            for key in output.keys():
-                f.write('        \"{}\": {}'.format(key, output[key]))
-                if key != keys[-1]:
-                    f.write(',\n')
-                else:
-                    f.write('\n')
-            f.write('    }')
-            if idata != len(results) - 1:
-                f.write(',\n')
+    out_text = []
+    out_text.append('[\n')
+    for idata, data in enumerate(results):
+        out_text.append('    {\n')
+        output = {}
+        output['id'] = data['id']
+        for key in keys:
+            if key not in data.keys():continue
+            # BUG: This function will failed if the rows of the data[key] is too large
+            # output[key] = np.array2string(data[key], max_line_width=1000, separator=', ', formatter=format_out)
+            output[key] = myarray2string(data[key], separator=', ', fmt=fmt)
+        for key in output.keys():
+            out_text.append('        \"{}\": {}'.format(key, output[key]))
+            if key != keys[-1]:
+                out_text.append(',\n')
             else:
-                f.write('\n')
-        f.write(']\n')
+                out_text.append('\n')
+        out_text.append('    }')
+        if idata != len(results) - 1:
+            out_text.append(',\n')
+        else:
+            out_text.append('\n')
+    out_text.append(']\n')
+    if dumpname is not None:
+        mkout(dumpname)
+        with open(dumpname, 'w') as f:
+            f.writelines(out_text)
+    else:
+        return ''.join(out_text)
 
 def write_keypoints3d(dumpname, results):
     # TODO:rewrite it
     keys = ['keypoints3d']
-    write_common_results(dumpname, results, keys, fmt='%.3f')
+    write_common_results(dumpname, results, keys, fmt='%6.3f')
+
+def write_vertices(dumpname, results):
+    keys = ['vertices']
+    write_common_results(dumpname, results, keys, fmt='%6.3f')
 
 def write_smpl(dumpname, results):
     keys = ['Rh', 'Th', 'poses', 'expression', 'shapes']
     write_common_results(dumpname, results, keys)
 
 
-def get_bbox_from_pose(pose_2d, img, rate = 0.1):
+def get_bbox_from_pose(pose_2d, img=None, rate = 0.1):
     # this function returns bounding box from the 2D pose
     # here use pose_2d[:, -1] instead of pose_2d[:, 2]
     # because when vis reprojection, the result will be (x, y, depth, conf)
@@ -125,7 +160,8 @@ def get_bbox_from_pose(pose_2d, img, rate = 0.1):
     dy = (y_max - y_min)*rate
     # 后面加上类别这些
     bbox = [x_min-dx, y_min-dy, x_max+dx, y_max+dy, 1]
-    correct_bbox(img, bbox)
+    if img is not None:
+        correct_bbox(img, bbox)
     return bbox
 
 def correct_bbox(img, bbox):
diff --git a/easymocap/pipeline/basic.py b/easymocap/pipeline/basic.py
index ed4fcde..98d66c0 100644
--- a/easymocap/pipeline/basic.py
+++ b/easymocap/pipeline/basic.py
@@ -2,11 +2,10 @@
   @ Date: 2021-04-13 20:43:16
   @ Author: Qing Shuai
   @ LastEditors: Qing Shuai
-  @ LastEditTime: 2021-04-14 13:38:34
-  @ FilePath: /EasyMocapRelease/easymocap/pipeline/basic.py
+  @ LastEditTime: 2021-05-27 15:35:22
+  @ FilePath: /EasyMocap/easymocap/pipeline/basic.py
 '''
 from ..pyfitting import optimizeShape, optimizePose2D, optimizePose3D
-from ..smplmodel import init_params
 from ..mytools import Timer
 from ..dataset import CONFIG
 from .weight import load_weight_pose, load_weight_shape
@@ -37,10 +36,26 @@ def multi_stage_optimize(body_model, params, kp3ds, kp2ds=None, bboxes=None, Pal
             params = optimizePose2D(body_model, params, bboxes, kp2ds, Pall, weight=weight, cfg=cfg)
     return params
 
+def multi_stage_optimize2d(body_model, params, kp2ds, bboxes, Pall, weight={}, args=None):
+    cfg = Config(args)
+    cfg.device = body_model.device
+    cfg.device = body_model.device
+    cfg.model = body_model.model_type
+    with Timer('Optimize global RT'):
+        cfg.OPT_R = True
+        cfg.OPT_T = True
+        params = optimizePose2D(body_model, params, bboxes, kp2ds, Pall, weight=weight, cfg=cfg)
+    with Timer('Optimize 2D Pose/{} frames'.format(kp2ds.shape[0])):
+        cfg.OPT_POSE = True
+        cfg.OPT_SHAPE = True
+        # bboxes => (nFrames, nViews, 5), keypoints2d => (nFrames, nViews, nJoints, 3)
+        params = optimizePose2D(body_model, params, bboxes, kp2ds, Pall, weight=weight, cfg=cfg)
+    return params
+
 def smpl_from_keypoints3d2d(body_model, kp3ds, kp2ds, bboxes, Pall, config, args,
     weight_shape=None, weight_pose=None):
     model_type = body_model.model_type
-    params_init = init_params(nFrames=1, model_type=model_type)
+    params_init = body_model.init_params(nFrames=1)
     if weight_shape is None:
         weight_shape = load_weight_shape(args.opts)
     if model_type in ['smpl', 'smplh', 'smplx']:
@@ -54,7 +69,7 @@ def smpl_from_keypoints3d2d(body_model, kp3ds, kp2ds, bboxes, Pall, config, args
     # optimize 3D pose
     cfg = Config(args)
     cfg.device = body_model.device
-    params = init_params(nFrames=kp3ds.shape[0], model_type=model_type)
+    params = body_model.init_params(nFrames=kp3ds.shape[0])
     params['shapes'] = params_shape['shapes'].copy()
     if weight_pose is None:
         weight_pose = load_weight_pose(model_type, args.opts)
@@ -65,7 +80,7 @@ def smpl_from_keypoints3d2d(body_model, kp3ds, kp2ds, bboxes, Pall, config, args
 def smpl_from_keypoints3d(body_model, kp3ds, config, args, 
     weight_shape=None, weight_pose=None):
     model_type = body_model.model_type
-    params_init = init_params(nFrames=1, model_type=model_type)
+    params_init = body_model.init_params(nFrames=1)
     if weight_shape is None:
         weight_shape = load_weight_shape(args.opts)
     if model_type in ['smpl', 'smplh', 'smplx']:
@@ -80,7 +95,7 @@ def smpl_from_keypoints3d(body_model, kp3ds, config, args,
     cfg = Config(args)
     cfg.device = body_model.device
     cfg.model_type = model_type
-    params = init_params(nFrames=kp3ds.shape[0], model_type=model_type)
+    params = body_model.init_params(nFrames=kp3ds.shape[0])
     params['shapes'] = params_shape['shapes'].copy()
     if weight_pose is None:
         weight_pose = load_weight_pose(model_type, args.opts)
diff --git a/easymocap/pipeline/weight.py b/easymocap/pipeline/weight.py
index 3a0e87d..8810a8c 100644
--- a/easymocap/pipeline/weight.py
+++ b/easymocap/pipeline/weight.py
@@ -2,8 +2,8 @@
   @ Date: 2021-04-13 20:12:58
   @ Author: Qing Shuai
   @ LastEditors: Qing Shuai
-  @ LastEditTime: 2021-04-13 22:51:39
-  @ FilePath: /EasyMocapRelease/easymocap/pipeline/weight.py
+  @ LastEditTime: 2021-05-27 17:04:47
+  @ FilePath: /EasyMocap/easymocap/pipeline/weight.py
 '''
 def load_weight_shape(opts):
     weight = {'s3d': 1., 'reg_shapes': 5e-3}
@@ -35,9 +35,33 @@ def load_weight_pose(model, opts):
             'reg_hand': 1e-4, 'reg_expr': 1e-2, 'reg_head': 1e-2,
             'k2d': 1e-4
         }
+    elif model == 'mano':
+        weight = {
+            'k3d': 1e2, 'k2d': 1e-3,
+            'reg_poses': 1e-3, 'smooth_body': 1e2
+        }
     else:
+        print(model)
         raise NotImplementedError
     for key in opts.keys():
         if key in weight.keys():
             weight[key] = opts[key]
     return weight
+
+def load_weight_pose2d(model, opts):
+    if model == 'smpl':
+        weight = {
+            'k2d': 2e-4, 
+            'init_poses': 1e-3, 'init_shapes': 1e-2,
+            'smooth_body': 5e-1, 'smooth_poses': 1e-1,
+        }
+    elif model == 'smplh':
+        raise NotImplementedError
+    elif model == 'smplx':
+        raise NotImplementedError
+    else:
+        weight = {}
+    for key in opts.keys():
+        if key in weight.keys():
+            weight[key] = opts[key]
+    return weight
\ No newline at end of file
diff --git a/easymocap/pyfitting/optimize_simple.py b/easymocap/pyfitting/optimize_simple.py
index 83c2448..1877309 100644
--- a/easymocap/pyfitting/optimize_simple.py
+++ b/easymocap/pyfitting/optimize_simple.py
@@ -2,8 +2,8 @@
   @ Date: 2020-11-19 10:49:26
   @ Author: Qing Shuai
   @ LastEditors: Qing Shuai
-  @ LastEditTime: 2021-04-13 22:52:28
-  @ FilePath: /EasyMocapRelease/easymocap/pyfitting/optimize_simple.py
+  @ LastEditTime: 2021-05-25 19:51:12
+  @ FilePath: /EasyMocap/easymocap/pyfitting/optimize_simple.py
 '''
 import numpy as np
 import torch
@@ -279,8 +279,9 @@ def optimizePose3D(body_model, params, keypoints3d, weight, cfg):
         'smooth_poses': LossSmoothPoses(1, nFrames, cfg).poses,
         'reg_poses': LossRegPoses(cfg).reg_body,
         'init_poses': LossInit(params, cfg).init_poses,
-        'reg_poses_zero': LossRegPosesZero(keypoints3d, cfg).__call__,
     }
+    if body_model.model_type != 'mano':
+        loss_funcs['reg_poses_zero'] = LossRegPosesZero(keypoints3d, cfg).__call__
     if cfg.OPT_HAND:
         loss_funcs['k3d_hand'] = LossKeypoints3D(keypoints3d, cfg, norm='l1').hand
         loss_funcs['reg_hand'] = LossRegPoses(cfg).reg_hand
@@ -327,9 +328,12 @@ def optimizePose2D(body_model, params, bboxes, keypoints2d, Pall, weight, cfg):
         'smooth_body': LossSmoothBodyMean(cfg).body,
         'init_poses': LossInit(params, cfg).init_poses,
         'smooth_poses': LossSmoothPoses(nViews, nFrames, cfg).poses,
-        # 'reg_poses': LossRegPoses(cfg).reg_body,
-        'reg_poses_zero': LossRegPosesZero(keypoints2d, cfg).__call__,
+        'reg_poses': LossRegPoses(cfg).reg_body,
     }
+    if body_model.model_type != 'mano':
+        loss_funcs['reg_poses_zero'] = LossRegPosesZero(keypoints2d, cfg).__call__
+    if cfg.OPT_SHAPE:
+        loss_funcs['init_shapes'] = LossInit(params, cfg).init_shapes
     if cfg.OPT_HAND:
         loss_funcs['reg_hand'] = LossRegPoses(cfg).reg_hand
         # loss_funcs['smooth_hand'] = LossSmoothPoses(1, nFrames, cfg).hands
diff --git a/easymocap/smplmodel/__init__.py b/easymocap/smplmodel/__init__.py
index a82eb7f..1c692df 100644
--- a/easymocap/smplmodel/__init__.py
+++ b/easymocap/smplmodel/__init__.py
@@ -2,9 +2,9 @@
   @ Date: 2020-11-18 14:33:20
   @ Author: Qing Shuai
   @ LastEditors: Qing Shuai
-  @ LastEditTime: 2021-01-20 16:33:02
-  @ FilePath: /EasyMocap/code/smplmodel/__init__.py
+  @ LastEditTime: 2021-05-25 19:20:52
+  @ FilePath: /EasyMocap/easymocap/smplmodel/__init__.py
 '''
 from .body_model import SMPLlayer
 from .body_param import load_model
-from .body_param import merge_params, select_nf, init_params, check_params, check_keypoints
\ No newline at end of file
+from .body_param import merge_params, select_nf, check_keypoints
\ No newline at end of file
diff --git a/easymocap/smplmodel/body_model.py b/easymocap/smplmodel/body_model.py
index 6e72bca..f96dc9d 100644
--- a/easymocap/smplmodel/body_model.py
+++ b/easymocap/smplmodel/body_model.py
@@ -2,8 +2,8 @@
   @ Date: 2020-11-18 14:04:10
   @ Author: Qing Shuai
   @ LastEditors: Qing Shuai
-  @ LastEditTime: 2021-05-11 15:09:44
-  @ FilePath: /EasyMocap/easymocap/smplmodel/body_model.py
+  @ LastEditTime: 2021-05-27 20:35:10
+  @ FilePath: /EasyMocapRelease/easymocap/smplmodel/body_model.py
 '''
 import torch
 import torch.nn as nn
@@ -39,7 +39,7 @@ def load_regressor(regressor_path):
         import ipdb; ipdb.set_trace()
     return X_regressor
 
-NUM_POSES = {'smpl': 72, 'smplh': 78, 'smplx': 66 + 12 + 9}
+NUM_POSES = {'smpl': 72, 'smplh': 78, 'smplx': 66 + 12 + 9, 'mano': 9}
 NUM_SHAPES = 10
 NUM_EXPR = 10
 class SMPLlayer(nn.Module):
@@ -120,6 +120,19 @@ class SMPLlayer(nn.Module):
                 self.register_buffer('mHandsComponents'+key[0], val)
             self.use_pca = True
             self.use_flat_mean = True
+        elif self.model_type == 'mano':
+            # TODO:write this into config file
+            self.num_pca_comps = 12
+            self.use_pca = True
+            if self.use_pca:
+                NUM_POSES['mano'] = self.num_pca_comps + 3
+            else:
+                NUM_POSES['mano'] = 45 + 3
+            self.use_flat_mean = True
+            val = to_tensor(to_np(data['hands_mean'].reshape(1, -1)), dtype=dtype)
+            self.register_buffer('mHandsMean', val)
+            val = to_tensor(to_np(data['hands_components'][:self.num_pca_comps, :]), dtype=dtype)
+            self.register_buffer('mHandsComponents', val)
         elif self.model_type == 'smplx':
             # hand pose
             self.num_pca_comps = 6
@@ -131,15 +144,29 @@ class SMPLlayer(nn.Module):
                 self.register_buffer('mHandsComponents'+key[0], val)
             self.use_pca = True
             self.use_flat_mean = True
-            
+    
+    @staticmethod
+    def extend_hand(poses, use_pca, use_flat_mean, coeffs, mean):
+        if use_pca:
+            poses = poses @ coeffs
+        if use_flat_mean:
+            poses = poses + mean
+        return poses
+
     def extend_pose(self, poses):
-        if self.model_type not in ['smplh', 'smplx']:
+        if self.model_type not in ['smplh', 'smplx', 'mano']:
             return poses
         elif self.model_type == 'smplh' and poses.shape[-1] == 156:
             return poses
         elif self.model_type == 'smplx' and poses.shape[-1] == 165:
             return poses
-        
+        elif self.model_type == 'mano' and poses.shape[-1] == 48:
+            return poses
+        if self.model_type == 'mano':
+            poses_hand = self.extend_hand(poses[..., 3:], self.use_pca, self.use_flat_mean,
+                self.mHandsComponents, self.mHandsMean)
+            poses = torch.cat([poses[..., :3], poses_hand], dim=-1)
+            return poses
         NUM_BODYJOINTS = 22 * 3
         if self.use_pca:
             NUM_HANDJOINTS = self.num_pca_comps
@@ -210,6 +237,13 @@ class SMPLlayer(nn.Module):
             Th=Tnew.detach().cpu().numpy()
             )
         return res
+    
+    def full_poses(self, poses):
+        if 'torch' not in str(type(poses)):
+            dtype, device = self.dtype, self.device
+            poses = to_tensor(poses, dtype, device)
+        poses = self.extend_pose(poses)
+        return poses.detach().cpu().numpy()
 
     def forward(self, poses, shapes, Rh=None, Th=None, expression=None, return_verts=True, return_tensor=True, only_shape=False, **kwargs):
         """ Forward pass for SMPL model
@@ -250,8 +284,7 @@ class SMPLlayer(nn.Module):
         if expression is not None and self.model_type == 'smplx':
             shapes = torch.cat([shapes, expression], dim=1)
         # process poses
-        if self.model_type == 'smplh' or self.model_type == 'smplx':
-            poses = self.extend_pose(poses)
+        poses = self.extend_pose(poses)
         if return_verts:
             vertices, joints = lbs(shapes, poses, self.v_template,
                                 self.shapedirs, self.posedirs,
@@ -268,6 +301,17 @@ class SMPLlayer(nn.Module):
             vertices = vertices.detach().cpu().numpy()
         return vertices
     
+    def init_params(self, nFrames):
+        params = {
+            'poses': np.zeros((nFrames, NUM_POSES[self.model_type])),
+            'shapes': np.zeros((1, NUM_SHAPES)),
+            'Rh': np.zeros((nFrames, 3)),
+            'Th': np.zeros((nFrames, 3)),
+        }
+        if self.model_type == 'smplx':
+            params['expression'] = np.zeros((nFrames, NUM_EXPR))
+        return params
+
     def check_params(self, body_params):
         model_type = self.model_type
         nFrames = body_params['poses'].shape[0]
diff --git a/easymocap/smplmodel/body_param.py b/easymocap/smplmodel/body_param.py
index ca23de2..6da6e8f 100644
--- a/easymocap/smplmodel/body_param.py
+++ b/easymocap/smplmodel/body_param.py
@@ -2,8 +2,8 @@
   @ Date: 2020-11-20 13:34:54
   @ Author: Qing Shuai
   @ LastEditors: Qing Shuai
-  @ LastEditTime: 2021-04-13 20:31:49
-  @ FilePath: /EasyMocapRelease/easymocap/smplmodel/body_param.py
+  @ LastEditTime: 2021-05-25 19:21:12
+  @ FilePath: /EasyMocap/easymocap/smplmodel/body_param.py
 '''
 import numpy as np
 from os.path import join
@@ -29,28 +29,6 @@ def select_nf(params_all, nf):
         output['shapes'] = params_all['shapes'][nf:nf+1, :]
     return output
 
-NUM_POSES = {'smpl': 72, 'smplh': 78, 'smplx': 66 + 12 + 9}
-NUM_EXPR = 10
-
-def init_params(nFrames=1, model_type='smpl'):
-    params = {
-        'poses': np.zeros((nFrames, NUM_POSES[model_type])),
-        'shapes': np.zeros((1, 10)),
-        'Rh': np.zeros((nFrames, 3)),
-        'Th': np.zeros((nFrames, 3)),
-    }
-    if model_type == 'smplx':
-        params['expression'] = np.zeros((nFrames, NUM_EXPR))
-    return params
-
-def check_params(body_params, model_type):
-    nFrames = body_params['poses'].shape[0]
-    if body_params['poses'].shape[1] != NUM_POSES[model_type]:
-        body_params['poses'] = np.hstack((body_params['poses'], np.zeros((nFrames, NUM_POSES[model_type] - body_params['poses'].shape[1]))))
-    if model_type == 'smplx' and 'expression' not in body_params.keys():
-        body_params['expression'] = np.zeros((nFrames, NUM_EXPR))
-    return body_params
-
 def load_model(gender='neutral', use_cuda=True, model_type='smpl', skel_type='body25', device=None, model_path='data/smplx'):
     # prepare SMPL model
     # print('[Load model {}/{}]'.format(model_type, gender))
@@ -76,6 +54,10 @@ def load_model(gender='neutral', use_cuda=True, model_type='smpl', skel_type='bo
     elif model_type == 'smplx':
         body_model = SMPLlayer(join(model_path, 'smplx/SMPLX_{}.pkl'.format(gender.upper())), model_type='smplx', gender=gender, device=device,
             regressor_path=join(model_path, 'J_regressor_body25_smplx.txt'))
+    elif model_type == 'manol' or model_type == 'manor':
+        lr = {'manol': 'LEFT', 'manor': 'RIGHT'}
+        body_model = SMPLlayer(join(model_path, 'smplh/MANO_{}.pkl'.format(lr[model_type])), model_type='mano', gender=gender, device=device,
+            regressor_path=join(model_path, 'J_regressor_mano_{}.txt'.format(lr[model_type])))
     else:
         body_model = None
     body_model.to(device)
diff --git a/easymocap/visualize/__init__.py b/easymocap/visualize/__init__.py
index 0566748..c7b1e6b 100644
--- a/easymocap/visualize/__init__.py
+++ b/easymocap/visualize/__init__.py
@@ -1 +1,10 @@
-from .renderer import Renderer
\ No newline at end of file
+'''
+  @ Date: 2021-04-25 22:07:06
+  @ Author: Qing Shuai
+  @ LastEditors: Qing Shuai
+  @ LastEditTime: 2021-05-27 21:09:08
+  @ FilePath: /EasyMocapRelease/easymocap/visualize/__init__.py
+'''
+from .renderer import Renderer
+from .geometry import create_cameras
+from .geometry import create_mesh_pyrender
\ No newline at end of file