can readCalibrationIni function get ROI data parsing a file?

edit

Hi everybody, I'm building a simple application that read a file .txt, parse it with

bool readCalibrationIni(const std::string& file_name, std::string& camera_name,
                        sensor_msgs::CameraInfo& cam_info)

of "camera_calibration_parsers" package and create an object "sensor_msgs::CameraInfo". This function seems don't parse ROI (Region Of Interest) info contained in the file, for example:

# Camera intrinsics
[image]

width
640

height
480

[TrusCamera]

camera matrix
782.015630 0.000000 347.626583
0.000000 785.621477 155.819230
0.000000 0.000000 1.000000

distortion
-0.153979 -0.023735 -0.002647 0.002344 0.000000

rectification
1.000000 0.000000 0.000000
0.000000 1.000000 0.000000
0.000000 0.000000 1.000000

projection
757.675406 0.000000 349.847926 0.000000
0.000000 765.347350 152.545843 0.000000
0.000000 0.000000 1.000000 0.000000

[roi]
x_offset
0

y_offset
0

height
0

width
0

do_rectify
False

parsing this file the following fields are filled in the CameraInfo object:

CameraInfo_()
  : header()
  , height(0)
  , width(0)
  , distortion_model()
  , D()
  , K()
  , R()
  , P()

but not the fields related to ROI and binning

, binning_x(0)
  , binning_y(0)
  , roi()
  {
    K.assign(0.0);
    R.assign(0.0);
    P.assign(0.0);
  }

How to set them?