Camera 如何从ros包中提取相机信息和图像？

我有一个ros包和它的信息如下

path:        zed.bag

version:     2.0

duration:    3:55s (235s)

start:       Nov 12 2014 04:28:20.90 (1415737700.90)

end:         Nov 12 2014 04:32:16.65 (1415737936.65)

size:        668.3 MB

messages:    54083

compression: none [848/848 chunks]

types:       sensor_msgs/CameraInfo      [c9a58c1b0b154e0e6da7578cb991d214]
             sensor_msgs/CompressedImage [8f7a12909da2c9d3332d540a0977563f]
             tf2_msgs/TFMessage          [94810edda583a504dfda3829e70d7eec]

topics:      /stereo_camera/left/camera_info_throttle              3741 msgs    : sensor_msgs/CameraInfo  
             /stereo_camera/left/image_raw_throttle/compressed     3753 msgs    : sensor_msgs/CompressedImage
             /stereo_camera/right/camera_info_throttle             3741 msgs    : sensor_msgs/CameraInfo 
             /stereo_camera/right/image_raw_throttle/compressed    3745 msgs    : sensor_msgs/CompressedImage
             /tf                                                  39103 msgs    : tf2_msgs/TFMessage          (2 connections)

我可以通过以下方法提取图像

---

但当我想要获取相机信息时，会出现问题，有人知道如何解决吗？

可以通过使用以下方法将基于文本的信息回送到文件中来解决此问题：

rostopic echo -b zed.bag /stereo_camera/left/camera_info_throttle > data.txt