Fix camera info tool

Author: plnegre

bag_tools/scripts/bag_tools/change_camera_info.py

@@ -12,9 +12,9 @@
     * Redistributions in binary form must reproduce the above copyright
       notice, this list of conditions and the following disclaimer in the
       documentation and/or other materials provided with the distribution.
-    * Neither the name of Systems, Robotics and Vision Group, University of 
-      the Balearican Islands nor the names of its contributors may be used to 
-      endorse or promote products derived from this software without specific 
+    * Neither the name of Systems, Robotics and Vision Group, University of
+      the Balearican Islands nor the names of its contributors may be used to
+      endorse or promote products derived from this software without specific
       prior written permission.
 
 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
@@ -75,6 +75,10 @@ def replacement(replace_string):
   cam_info.R = calib_data['rectification_matrix']['data']
   cam_info.P = calib_data['projection_matrix']['data']
   cam_info.distortion_model = calib_data['distortion_model']
+  cam_info.binning_x = 1;
+  cam_info.binning_y = 1;
+  cam_info.roi.width = calib_data['image_width']
+  cam_info.roi.height = calib_data['image_height']
   return pair[0], cam_info
 
 if __name__ == "__main__":