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You can feed a python transformer manually with messages. This is what I used in some post processing code:

tf_t = tf.Transformer(True, rospy.Duration(3600.0))
bag = rosbag.Bag(bag_file)
for topic, msg, t in bag.read_messages(topics=['/tf']):
    for msg_tf in msg.transforms:
        tf_t.setTransform(msg_tf)
bag.close()

You can now use the tf.Transformer as if it was filled from topics, i.e. call lookupTransform, etc.