Very recently the NICER collaboration has published the first-ever accurate measurement of mass and radius together for PSR J0030+0451, a nearby isolated quickly-rotating neutron star (NS). In this work we set the joint constraints on the equation of state (EoS) and some bulk properties of NSs with the data of PSR J0030+0451, GW170817 and some nuclear experiments. The piecewise polytropic expansion method and the spectral decomposition method have been adopted to parameterize the EoS. The resulting constraints are consistent with each other. Assuming the maximal gravitational mass of non-rotating NS $M_{rm TOV}$ lies between $2.04 rm M_{odot}$ and $2.4 rm M_{odot}$, with the piecewise method the pressure at twice nuclear saturation density is measured to be $3.38^{+2.43}_{-1.50}times 10^{34}~{rm dyn~cm^{-2}}$ at the $90%$ level. For a NS with canonical mass of $1.4 rm M_odot$, we have the moment of inertia $I_{1.4} = {1.43}^{+0.28}_{-0.13} times 10^{38}~{rm kg cdot m^2}$, tidal deformability $Lambda_{1.4} = 390_{-140}^{+320}$, radius $R_{1.4} = 12.2_{-0.9}^{+1.0}~{rm km}$, and binding energy $BE_{1.4} = {0.16}^{+0.01}_{-0.02} rm M_{odot}$ at the $90%$ level, which are improved in comparison to the constraints with the sole data of GW170817.
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