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I could not find a "tool" to do this, but you can easily read frames from a video file into opencv:

http://opencv.willowgarage.com/documentation/cpp/reading_and_writing_images_and_video.html

And then you can use the image_transport package in ROS to output them onto a topic for processing:

http://www.ros.org/wiki/image_transport

Or you could use the python/c++ bagfile interface with opencv to write the frames of the video to the bag file directly.

gl hf