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In general, if you want to synchronize the input from two topics and process them in the same callback, you can use the message_filters time synchronizer API.
If you're looking specifically to receive a camera_info message and use the data in it for processing a camera image, it may be better to subscribe to the two topics separately and just save the most recent CameraInfo for use when processing images. This relaxes the timing requirements pretty significantly and means you don't have to run a complex synchronization filter.
You may also find the documentation on the CameraInfo message useful.
For typical uses you should be able to extract XYZ from a structured RGB Point cloud without resorting to CameraInfo.
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