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The easiest way I believe would be to open your raw data with python and use openCV to convert them into sensor_msgs/Image. You can also have a look at the cv_bridge.
Then once you managed to convert your raw data into sensor_msgs/Image messages you will have to save them into a bag. You can use the rosbag python api for that. Have a look at the rosbag cookbook. (Especially section 1.2).