I am using TrackerCSRT
for object tracking in a video, and currently I use the init method on the tracker to set the region of interest
At the moment, you can't. But you could do it if you are prepared to rebuild OpenCV.
The creation of Python bindings for OpenCV C++ modules is controlled by markup in the C++ files, as documented here. At the time of writing, the C++ declaration of setInitialMask() does not have the markup which causes a Python binding to be created for it, so it is inaccessible. I expect that is because the TrackerCSRT implementation is only a few months old, and that Python bindings will follow as it matures.
However, if you are prepared to rebuild OpenCV on your system (which can be a little challenging if you haven't done it before), making setInitialMask() accessible from Python should be as simple as adding the CV_WRAP macro to that declaration (as explained in the above documentation) and rebuilding.
There are quite a few guides online for how to build OpenCV, but since I haven't done this myself in a while and the methods are somewhat platform dependent, I won't recommend one.
Hope this helps.