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I've successfully used this tutorial in the past to extract images / video from .bag files:
http://www.ros.org/wiki/rosbag/Tutorials/Exporting%20image%20and%20video%20data
Good luck!
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EDIT: This answer was applicable back in the ROS Fuerte days of rosmake. I'd recommend checking out one of the other answers for any modern ROS version.
ORIGINAL: I've successfully used this tutorial in the past to extract images / video from .bag files:
http://www.ros.org/wiki/rosbag/Tutorials/Exporting%20image%20and%20video%20data
Good luck!
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