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Ok, found this out myself. I haven't had the chance to test my bag files with the calibration yet, but they do play fine, so I'm assuming it should work. For anyone interested here's the script you can use to create a bag file from an image sequence (supports mono and stereo):

import time, sys, os from ros import rosbag import roslib roslib.load_manifest('sensor_msgs') from sensor_msgs.msg import Image

import ImageFile

def GetFilesFromDir(dir): '''Generates a list of files from the directory''' print( "Searching directory %s" % dir ) all = [] left_files = [] right_files = [] if os.path.exists(dir): for path, names, files in os.walk(dir): for f in files: if os.path.splitext(f)[1] in ['.bmp', '.png', '.jpg']: if 'left' in f or 'left' in path: left_files.append( os.path.join( path, f ) ) elif 'right' in f or 'right' in path: right_files.append( os.path.join( path, f ) ) all.append( os.path.join( path, f ) ) return all, left_files, right_files

def CreateStereoBag(left_imgs, right_imgs, bagname):
    '''Creates a bag file containing stereo image pairs'''
    bag =rosbag.Bag(bagname, 'w')

    try:
        for i in range(len(left_imgs)):
            print("Adding %s" % left_imgs[i])
            fp_left = open( left_imgs[i], "r" )
            p_left = ImageFile.Parser()

            while 1:
                s = fp_left.read(1024)
                if not s:
                    break
                p_left.feed(s)

            im_left = p_left.close()

            fp_right = open( right_imgs[i], "r" )
            print("Adding %s" % right_imgs[i])
            p_right = ImageFile.Parser()

            while 1:
                s = fp_right.read(1024)
                if not s:
                    break
                p_right.feed(s)

            im_right = p_right.close()

            Stamp = roslib.rostime.Time.from_sec(time.time())

            Img_left = Image()
            Img_left.header.stamp = Stamp
            Img_left.width = im_left.size[0]
            Img_left.height = im_left.size[1]
            Img_left.encoding = "rgb8"
            Img_left.header.frame_id = "camera/left"
            Img_left_data = [pix for pixdata in im_left.getdata() for pix in pixdata]
            Img_left.data = Img_left_data
            Img_right = Image()
            Img_right.header.stamp = Stamp
            Img_right.width = im_right.size[0]
            Img_right.height = im_right.size[1]
            Img_right.encoding = "rgb8"
            Img_right.header.frame_id = "camera/right"
            Img_right_data = [pix for pixdata in im_right.getdata() for pix in pixdata]
            Img_right.data = Img_right_data

            bag.write('camera/left/image_raw', Img_left, Stamp)
            bag.write('camera/right/image_raw', Img_right, Stamp)
    finally:
        bag.close()

def CreateMonoBag(imgs):
    '''Creates a bag file with camera images'''
    bag =rosbag.Bag(bagname, 'w')

    try:
        for i in range(len(imgs)):
            print("Adding %s" % imgs[i])
            fp = open( imgs[i], "r" )
            p = ImageFile.Parser()

            while 1:
                s = fp.read(1024)
                if not s:
                    break
                p.feed(s)

            im = p.close()

            Stamp = roslib.rostime.Time.from_sec(time.time())

            Img = Image()
            Img.header.stamp = Stamp
            Img.width = im_left.size[0]
            Img.height = im_left.size[1]
            Img.encoding = "rgb8"
            Img.header.frame_id = "camera"
            Img_data = [pix for pixdata in im.getdata() for pix in pixdata]
            Img_.data = Img_data

            bag.write('camera/image_raw', Img, Stamp)
    finally:
        bag.close()       


def CreateBag(args):
    '''Creates the actual bag file by successively adding images'''
    all_imgs, left_imgs, right_imgs = GetFilesFromDir(args[0])
    if len(all_imgs) <= 0:
        print("No images found in %s" % args[0])
        exit()

    if len(left_imgs) > 0 and len(right_imgs) > 0:
        # create bagfile with stereo camera image pairs
        CreateStereoBag(left_imgs, right_imgs, args[1])
    else:
        # create bagfile with mono camera image stream
        CreateMonoBag(all_imgs, args[1])        

if __name__ == "__main__":
    if len( sys.argv ) == 3:
        CreateBag( sys.argv[1:])
    else:
        print( "Usage: img2bag imagedir bagfilename")

Ok, found this out myself. I haven't had the chance to test my bag files with the calibration yet, but they do play fine, so I'm assuming it should work. For anyone interested here's the script you can use to create a bag file from an image sequence (supports mono and stereo):

import time, sys, os
 from ros import rosbag
 import roslib
 roslib.load_manifest('sensor_msgs')
 from sensor_msgs.msg import Image
 
Image

import ImageFile
 
ImageFile

def GetFilesFromDir(dir):
     '''Generates a list of files from the directory'''
     print( "Searching directory %s" % dir )
     all = []
     left_files = []
     right_files = []
     if os.path.exists(dir):
         for path, names, files in os.walk(dir):
             for f in files:
                 if os.path.splitext(f)[1] in ['.bmp', '.png', '.jpg']:
                     if 'left' in f or 'left' in path:
                         left_files.append( os.path.join( path, f ) )
                     elif 'right' in f or 'right' in path:
                         right_files.append( os.path.join( path, f ) )
                     all.append( os.path.join( path, f ) )
     return all, left_files, right_files
 
right_files

def CreateStereoBag(left_imgs, right_imgs, bagname):
    '''Creates a bag file containing stereo image pairs'''
    bag =rosbag.Bag(bagname, 'w')

    try:
        for i in range(len(left_imgs)):
            print("Adding %s" % left_imgs[i])
            fp_left = open( left_imgs[i], "r" )
            p_left = ImageFile.Parser()

            while 1:
                s = fp_left.read(1024)
                if not s:
                    break
                p_left.feed(s)

            im_left = p_left.close()

            fp_right = open( right_imgs[i], "r" )
            print("Adding %s" % right_imgs[i])
            p_right = ImageFile.Parser()

            while 1:
                s = fp_right.read(1024)
                if not s:
                    break
                p_right.feed(s)

            im_right = p_right.close()

            Stamp = roslib.rostime.Time.from_sec(time.time())

            Img_left = Image()
            Img_left.header.stamp = Stamp
            Img_left.width = im_left.size[0]
            Img_left.height = im_left.size[1]
            Img_left.encoding = "rgb8"
            Img_left.header.frame_id = "camera/left"
            Img_left_data = [pix for pixdata in im_left.getdata() for pix in pixdata]
            Img_left.data = Img_left_data
            Img_right = Image()
            Img_right.header.stamp = Stamp
            Img_right.width = im_right.size[0]
            Img_right.height = im_right.size[1]
            Img_right.encoding = "rgb8"
            Img_right.header.frame_id = "camera/right"
            Img_right_data = [pix for pixdata in im_right.getdata() for pix in pixdata]
            Img_right.data = Img_right_data

            bag.write('camera/left/image_raw', Img_left, Stamp)
            bag.write('camera/right/image_raw', Img_right, Stamp)
    finally:
        bag.close()

def CreateMonoBag(imgs):
    '''Creates a bag file with camera images'''
    bag =rosbag.Bag(bagname, 'w')

    try:
        for i in range(len(imgs)):
            print("Adding %s" % imgs[i])
            fp = open( imgs[i], "r" )
            p = ImageFile.Parser()

            while 1:
                s = fp.read(1024)
                if not s:
                    break
                p.feed(s)

            im = p.close()

            Stamp = roslib.rostime.Time.from_sec(time.time())

            Img = Image()
            Img.header.stamp = Stamp
            Img.width = im_left.size[0]
            Img.height = im_left.size[1]
            Img.encoding = "rgb8"
            Img.header.frame_id = "camera"
            Img_data = [pix for pixdata in im.getdata() for pix in pixdata]
            Img_.data = Img_data

            bag.write('camera/image_raw', Img, Stamp)
    finally:
        bag.close()       


def CreateBag(args):
    '''Creates the actual bag file by successively adding images'''
    all_imgs, left_imgs, right_imgs = GetFilesFromDir(args[0])
    if len(all_imgs) <= 0:
        print("No images found in %s" % args[0])
        exit()

    if len(left_imgs) > 0 and len(right_imgs) > 0:
        # create bagfile with stereo camera image pairs
        CreateStereoBag(left_imgs, right_imgs, args[1])
    else:
        # create bagfile with mono camera image stream
        CreateMonoBag(all_imgs, args[1])        

if __name__ == "__main__":
    if len( sys.argv ) == 3:
        CreateBag( sys.argv[1:])
    else:
        print( "Usage: img2bag imagedir bagfilename")