public void updateImage(BufferedImage bufferedImage, long timeStamp, Point3d cameraPosition, Quat4d cameraOrientation, double fov) { double f = bufferedImage.getWidth() / 2 / Math.tan(fov / 2); IntrinsicParameters intrinsicParameters = new IntrinsicParameters(f, f, 0, (bufferedImage.getWidth() - 1) / 2f, (bufferedImage.getHeight() - 1) / 2f, bufferedImage.getWidth(), bufferedImage.getHeight()); videoDataServer.updateImage(RobotSide.LEFT, bufferedImage, timeStamp, cameraPosition, cameraOrientation, intrinsicParameters); }