code: def crop(self, height, width, crop_ci, crop_cj):
          
          cx = self.cx + float(width-1)/2 - crop_cj
          cy = self.cy + float(height-1)/2 - crop_ci
          cropped_intrinsics = CameraIntrinsics(frame=self.frame,
                                                fx=self.fx,
                                                fy=self.fy,
                                                skew=self.skew,
                                                cx=cx, cy=cy,
                                                height=height,
                                                width=width)
          return cropped_intrinsics
docs: Convert to new camera intrinsics for crop of image from original camera.
  
          Parameters
          ----------
          height : int
              height of crop window
          width : int
              width of crop window
          crop_ci : int
              row of crop window center
          crop_cj : int
              col of crop window center
  
          Returns
          -------
          :obj:`CameraIntrinsics`
              camera intrinsics for cropped window