diff --git a/Calib/sourceCode/Calib.cpp b/Calib/sourceCode/Calib.cpp
index 59d7376..561148d 100644
--- a/Calib/sourceCode/Calib.cpp
+++ b/Calib/sourceCode/Calib.cpp
@@ -177,9 +177,9 @@ void calib(
 				//ky = InData.calibK[1];
 				dataConver_x.dData = InData.calibK[0];
 				kx_1 = (float)dataConver_x.fData[0];
-				kx_2 = (float)dataConver_x.fData[1];
-				dataConver_y.dData = InData.calibK[0];
-				ky_1 = (float)dataConver_y.fData[0];
+				ky_1 = (float)dataConver_x.fData[1];
+				dataConver_y.dData = InData.calibK[1];
+				kx_2 = (float)dataConver_y.fData[0];
 				ky_2 = (float)dataConver_y.fData[1];
 
 				xmul0 = kx_1;
@@ -206,9 +206,9 @@ void calib(
 			{
 				dataConver_x.dData = InData.calibK[0];
 				kx_1 = (float)dataConver_x.fData[0];
-				kx_2 = (float)dataConver_x.fData[1];
-				dataConver_y.dData = InData.calibK[0];
-				ky_1 = (float)dataConver_y.fData[0];
+				ky_1 = (float)dataConver_x.fData[1];
+				dataConver_y.dData = InData.calibK[1];
+				kx_2 = (float)dataConver_y.fData[0];
 				ky_2 = (float)dataConver_y.fData[1];
 
 				float x2_tmp = (float)x2;
@@ -244,9 +244,9 @@ void calib(
 			{
 				dataConver_x.dData = InData.calibK[0];
 				kx_1 = (float)dataConver_x.fData[0];
-				kx_2 = (float)dataConver_x.fData[1];
-				dataConver_y.dData = InData.calibK[0];
-				ky_1 = (float)dataConver_y.fData[0];
+				ky_1 = (float)dataConver_x.fData[1];
+				dataConver_y.dData = InData.calibK[1];
+				kx_2 = (float)dataConver_y.fData[0];
 				ky_2 = (float)dataConver_y.fData[1];
 
 				float x4_tmp = (float)x4;
@@ -281,9 +281,9 @@ void calib(
 			{
 				dataConver_x.dData = InData.calibK[0];
 				kx_1 = (float)dataConver_x.fData[0];
-				kx_2 = (float)dataConver_x.fData[1];
-				dataConver_y.dData = InData.calibK[0];
-				ky_1 = (float)dataConver_y.fData[0];
+				ky_1 = (float)dataConver_x.fData[1];
+				dataConver_y.dData = InData.calibK[1];
+				kx_2 = (float)dataConver_y.fData[0];
 				ky_2 = (float)dataConver_y.fData[1];
 
 				float x6_tmp = (float)x6;
diff --git a/Calib/sourceCode/calib_tb.cpp b/Calib/sourceCode/calib_tb.cpp
index 981ad43..ed87981 100644
--- a/Calib/sourceCode/calib_tb.cpp
+++ b/Calib/sourceCode/calib_tb.cpp
@@ -154,11 +154,14 @@ void genCalibTestSream(
 			conData.Sync = 0b00;
 			if(m == 0)
 			{
-				Byte8 dataConv;
-				dataConv.fData[0] = 0.0;
-				dataConv.fData[1] = 1.0;
-				conData.calibK[0] = dataConv.dData;
-				conData.calibK[1] = dataConv.dData;
+				Byte8 dataConv_0;
+				dataConv_0.fData[0] = 0.0;
+				dataConv_0.fData[1] = 0.0;
+				Byte8 dataConv_1;
+				dataConv_1.fData[0] = 1.0;
+				dataConv_1.fData[1] = 1.0;
+				conData.calibK[0] = dataConv_0.dData;
+				conData.calibK[1] = dataConv_1.dData;
 			}
 			else
 			{
diff --git a/compute3D/sourceCode/compute3D.cpp b/compute3D/sourceCode/compute3D.cpp
index 2c982ba..26414b2 100644
--- a/compute3D/sourceCode/compute3D.cpp
+++ b/compute3D/sourceCode/compute3D.cpp
@@ -4,12 +4,12 @@
 void compute3D(
 	hls::stream<RgnSubPixCalib> 	&inSubCalib,
 	hls::stream<Pnt3D> 			&outPt3D,
-	double u0,
-	double v0,
-	double F_inv,
-	double plane_a,
-	double plane_b,
-	double plane_c
+	float u0_f,
+	float v0_f,
+	float F_inv_f,
+	float plane_a_f,
+	float plane_b_f,
+	float plane_c_f
 )
 {
 #pragma HLS DATA_PACK variable=inSubCalib
@@ -61,6 +61,12 @@ void compute3D(
 	outData.x = InData.x;
 	outPt3D.write(outData);
 
+	double u0 = u0_f;
+	double v0 =v0_f;
+	double F_inv =F_inv_f;
+	double plane_a = plane_a_f;
+	double plane_b = plane_b_f;
+	double plane_c = plane_c_f;
 	for(int n = 0; n < WinNum; n ++)
 	{
 #pragma HLS LOOP_TRIPCOUNT min=3072 max=3072
diff --git a/compute3D/sourceCode/compute3D.h b/compute3D/sourceCode/compute3D.h
index 53dad7f..b37702b 100644
--- a/compute3D/sourceCode/compute3D.h
+++ b/compute3D/sourceCode/compute3D.h
@@ -7,12 +7,12 @@
 void compute3D(
 	hls::stream<RgnSubPixCalib> 	&inSubCalib,
 	hls::stream<Pnt3D> 			&outPt3D,
-	double u0,
-	double v0,
-	double F_inv,
-	double plane_a,
-	double plane_b,
-	double plane_c
+	float u0,
+	float v0,
+	float F_inv,
+	float plane_a,
+	float plane_b,
+	float plane_c
 );
 
 #endif
diff --git a/compute3D/sourceCode/compute3D_tb.cpp b/compute3D/sourceCode/compute3D_tb.cpp
index edd0a19..2b49ce0 100644
--- a/compute3D/sourceCode/compute3D_tb.cpp
+++ b/compute3D/sourceCode/compute3D_tb.cpp
@@ -211,12 +211,12 @@ int main()
 		uint16_t frameROI_y = 0;
 		genCompute3DTestSream(testData, inStream, FrmNo, timeStamp, encInfo, frameROI_w, frameROI_h, frameROI_x, frameROI_y);
 
-		double u0 = 620.1;
-		double v0 = 1023.51;
-		double F_inv = 0.0009933051235;
-		double plane_a = -2.67733;
-		double plane_b = 0.0501805;
-		double plane_c = 631.944;
+		float u0 = 620.1;
+		float v0 = 1023.51;
+		float F_inv = 0.0009933051235;
+		float plane_a = -2.67733;
+		float plane_b = 0.0501805;
+		float plane_c = 631.944;
 		hls::stream<Pnt3D> outStream;
 		compute3D(inStream, outStream, u0, v0, F_inv, plane_a, plane_b, plane_c );