def resize(self, scale):
        """ Convert to new camera intrinsics with parameters for resized image.
        
        Parameters
        ----------
        scale : float
            the amount to rescale the intrinsics
        
        Returns
        -------
        :obj:`CameraIntrinsics`
            camera intrinsics for resized image        
        """
        center_x = float(self.width-1) / 2
        center_y = float(self.height-1) / 2
        orig_cx_diff = self.cx - center_x
        orig_cy_diff = self.cy - center_y
        height = scale * self.height
        width = scale * self.width
        scaled_center_x = float(width-1) / 2
        scaled_center_y = float(height-1) / 2
        fx = scale * self.fx
        fy = scale * self.fy
        skew = scale * self.skew
        cx = scaled_center_x + scale * orig_cx_diff
        cy = scaled_center_y + scale * orig_cy_diff
        scaled_intrinsics = CameraIntrinsics(frame=self.frame,
                                              fx=fx, fy=fy, skew=skew, cx=cx, cy=cy,
                                              height=height, width=width)
        return scaled_intrinsics
Convert to new camera intrinsics with parameters for resized image.
        
        Parameters
        ----------
        scale : float
            the amount to rescale the intrinsics
        
        Returns
        -------
        :obj:`CameraIntrinsics`
            camera intrinsics for resized image