diff --git a/CMakeLists.txt b/CMakeLists.txt
index a04ab1e..2494df5 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -18,7 +18,8 @@ find_package(geometry_msgs REQUIRED)
 find_package(nav_msgs REQUIRED)
 find_package(cv_bridge REQUIRED)
 find_package(image_transport REQUIRED)
-
+find_package(pcl_conversions REQUIRED)
+find_package(PCL REQUIRED)
 
 find_package(Boost REQUIRED
     COMPONENTS system filesystem thread date_time program_options)
@@ -41,12 +42,36 @@ ament_target_dependencies(extract_realsense_data_from_bag
     geometry_msgs
     nav_msgs
     cv_bridge
-    image_transport)
-target_link_libraries(extract_realsense_data_from_bag ${OpenCV_LIBS} ${Boost_LIBRARIES})
+    image_transport
+    pcl_conversions)
+target_link_libraries(extract_realsense_data_from_bag
+    ${OpenCV_LIBS}
+    ${Boost_LIBRARIES}
+    ${PCL_LIBRARIES})
+
+add_executable(extract_feynman_data_from_bag
+    src/extract_feynman_data_from_bag.cc)
+ament_target_dependencies(extract_feynman_data_from_bag
+    rclcpp
+    rcpputils
+    rosbag2_cpp
+    std_msgs
+    sensor_msgs
+    geometry_msgs
+    nav_msgs
+    cv_bridge
+    image_transport
+    pcl_conversions)
+target_link_libraries(extract_feynman_data_from_bag
+    ${OpenCV_LIBS}
+    ${Boost_LIBRARIES}
+    ${PCL_LIBRARIES})
 
 # Install nodes
 install(
-    TARGETS extract_realsense_data_from_bag
+    TARGETS
+        extract_realsense_data_from_bag
+        extract_feynman_data_from_bag
     DESTINATION lib/${PROJECT_NAME})
 
 ament_package()
diff --git a/package.xml b/package.xml
index 21d208c..7598c48 100644
--- a/package.xml
+++ b/package.xml
@@ -20,6 +20,7 @@
   <depend>libopencv-dev</depend>
   <depend>cv_bridge</depend>
   <depend>image_transport</depend>
+  <depend>pcl_conversions</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
diff --git a/src/extract_feynman_data_from_bag.cc b/src/extract_feynman_data_from_bag.cc
new file mode 100644
index 0000000..62bfeac
--- /dev/null
+++ b/src/extract_feynman_data_from_bag.cc
@@ -0,0 +1,331 @@
+#include <iostream>
+#include <string>
+#include <list>
+
+#include <boost/algorithm/string.hpp>
+#include <boost/filesystem.hpp>
+#include <boost/program_options.hpp>
+#include <opencv2/core/core.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <rclcpp/rclcpp.hpp>
+#include <rosbag2_cpp/reader.hpp>
+#include <sensor_msgs/msg/image.hpp>
+#include <sensor_msgs/image_encodings.hpp>
+#include <cv_bridge/cv_bridge.h>
+#include <sensor_msgs/msg/imu.hpp>
+#include <sensor_msgs/msg/point_cloud2.hpp>
+#include <pcl_conversions/pcl_conversions.h>
+#include <pcl/io/pcd_io.h>
+
+int main(int argc, char** argv) {
+  std::string in_bag, out_folder;
+
+  //========= Handling Program options =========
+  boost::program_options::options_description desc("Allowed options");
+  desc.add_options()
+      ("help", "produce help message")
+      ("inbag,i",
+       boost::program_options::value<std::string>(
+           &in_bag)->default_value(""),
+       "Input bag file")
+      ("outfolder,o",
+       boost::program_options::value<std::string>(
+           &out_folder)->default_value(""),
+       "Output folder");
+
+  boost::program_options::positional_options_description pdesc;
+  pdesc.add("inbag", 1);
+  pdesc.add("outfolder", 2);
+
+  boost::program_options::variables_map vm;
+  boost::program_options::store(
+      boost::program_options::command_line_parser(
+          argc, argv).options(desc).positional(pdesc).run(),
+      vm);
+  boost::program_options::notify(vm);
+
+  if (vm.count("help") || in_bag.empty()) {
+    std::cout << desc << std::endl;
+    return 1;
+  }
+
+  // Startup this node
+  rclcpp::init(argc, argv);
+  RCLCPP_INFO(rclcpp::get_logger(__func__), "Starting up");
+
+  if (out_folder.empty())
+    out_folder = boost::filesystem::path(in_bag).parent_path().string();
+  if (out_folder.back() != '/')
+    out_folder += "/";
+  if (!boost::filesystem::exists(out_folder))
+    boost::filesystem::create_directories(out_folder);
+
+  if (!boost::filesystem::exists(out_folder + "color1"))
+    boost::filesystem::create_directories(out_folder + "color1");
+  if (!boost::filesystem::exists(out_folder + "color2"))
+    boost::filesystem::create_directories(out_folder + "color2");
+  if (!boost::filesystem::exists(out_folder + "infra1"))
+    boost::filesystem::create_directories(out_folder + "infra1");
+  if (!boost::filesystem::exists(out_folder + "infra2"))
+    boost::filesystem::create_directories(out_folder + "infra2");
+  if (!boost::filesystem::exists(out_folder + "depth"))
+    boost::filesystem::create_directories(out_folder + "depth");
+  if (!boost::filesystem::exists(out_folder + "aligned_depth_to_color"))
+    boost::filesystem::create_directories(out_folder + "aligned_depth_to_color");
+  if (!boost::filesystem::exists(out_folder + "pointcloud"))
+    boost::filesystem::create_directories(out_folder + "pointcloud");
+
+  std::string imu_topic = "/feynman_camera/default/imu0_single";
+  std::string color1_topic = "/feynman_camera/default/rgb/image_rect_color";
+  std::string color2_topic = "/feynman_camera/default/rgb2/image_rect_color";
+  std::string infra1_topic = "/feynman_camera/default/leftir/image_rect";
+  std::string infra2_topic = "/feynman_camera/default/rightir/image_rect";
+  std::string depth_topic = "/feynman_camera/default/depth/image_raw";
+  std::string aligned_d2c_topic =
+      "/feynman_camera/default/depthalignrgb/image_raw";
+  std::string pointcloud_topic = "/feynman_camera/default/depth/dotcloud";
+
+  // Load rosbag here, and find messages we can play
+  rosbag2_cpp::Reader bag_reader;
+  bag_reader.open(in_bag);
+
+  RCLCPP_INFO_STREAM(
+      rclcpp::get_logger(__func__),
+      "Extracting D400 RGB, Infra, Depth, and IMU data from " +
+          in_bag + " to " + out_folder);
+
+  FILE* color1_file = fopen((out_folder + "color1.txt").c_str(), "wb");
+  FILE* color2_file = fopen((out_folder + "color2.txt").c_str(), "wb");
+  FILE* infra1_file = fopen((out_folder + "infra1.txt").c_str(), "wb");
+  FILE* infra2_file = fopen((out_folder + "infra2.txt").c_str(), "wb");
+  FILE* depth_file = fopen((out_folder + "depth.txt").c_str(), "wb");
+  FILE* aligned_depth_to_color_file = fopen(
+      (out_folder + "aligned_depth_to_color.txt").c_str(), "wb");
+  FILE* pointcloud_file = fopen((out_folder + "pointcloud.txt").c_str(), "wb");
+  FILE* imu_file = fopen((out_folder + "imu.txt").c_str(), "wb");
+  fprintf(imu_file, "#Time Gx Gy Gz Ax Ay Ax \n");
+
+  // Step through the rosbag and send to algo methods
+  while (bag_reader.has_next()) {
+    rosbag2_storage::SerializedBagMessageSharedPtr bag_message =
+        bag_reader.read_next();
+    rclcpp::SerializedMessage serialized_msg(*bag_message->serialized_data);
+
+    // Handle color1 message
+    if (bag_message->topic_name == color1_topic) {
+      sensor_msgs::msg::Image::SharedPtr image_msg =
+          std::make_shared<sensor_msgs::msg::Image>();
+
+      rclcpp::Serialization<sensor_msgs::msg::Image> serialization;
+      serialization.deserialize_message(&serialized_msg, image_msg.get());
+      cv_bridge::CvImageConstPtr image_ptr;
+      try {
+        image_ptr = cv_bridge::toCvShare(image_msg,
+                                         sensor_msgs::image_encodings::BGR8);
+      } catch (cv_bridge::Exception &e) {
+        RCLCPP_ERROR(rclcpp::get_logger(__func__),
+                     "cv_bridge exception: %s", e.what());
+      }
+
+      cv::Mat image = image_ptr->image;
+      if (image.empty()) continue;
+      char tmp[30] = {0};
+      sprintf(tmp, "%.6f", rclcpp::Time(image_ptr->header.stamp).seconds());
+      std::string time(tmp);
+      fprintf(color1_file, "%s %s\n",
+              time.c_str(), ("color1/" + time + ".png").c_str());
+      fflush(color1_file);
+      cv::imwrite(out_folder + "color1/" + time + ".png", image);
+    }
+
+    // Handle color1 message
+    if (bag_message->topic_name == color2_topic) {
+      sensor_msgs::msg::Image::SharedPtr image_msg =
+          std::make_shared<sensor_msgs::msg::Image>();
+
+      rclcpp::Serialization<sensor_msgs::msg::Image> serialization;
+      serialization.deserialize_message(&serialized_msg, image_msg.get());
+      cv_bridge::CvImageConstPtr image_ptr;
+      try {
+        image_ptr = cv_bridge::toCvShare(image_msg,
+                                         sensor_msgs::image_encodings::BGR8);
+      } catch (cv_bridge::Exception &e) {
+        RCLCPP_ERROR(rclcpp::get_logger(__func__),
+                     "cv_bridge exception: %s", e.what());
+      }
+
+      cv::Mat image = image_ptr->image;
+      if (image.empty()) continue;
+      char tmp[30] = {0};
+      sprintf(tmp, "%.6f", rclcpp::Time(image_ptr->header.stamp).seconds());
+      std::string time(tmp);
+      fprintf(color2_file, "%s %s\n",
+              time.c_str(), ("color2/" + time + ".png").c_str());
+      fflush(color2_file);
+      cv::imwrite(out_folder + "color2/" + time + ".png", image);
+    }
+
+    // Handle infra1 message
+    if (bag_message->topic_name == infra1_topic) {
+      sensor_msgs::msg::Image::SharedPtr image_msg =
+          std::make_shared<sensor_msgs::msg::Image>();
+
+      rclcpp::Serialization<sensor_msgs::msg::Image> serialization;
+      serialization.deserialize_message(&serialized_msg, image_msg.get());
+      cv_bridge::CvImageConstPtr image_ptr;
+      try {
+        image_ptr = cv_bridge::toCvShare(image_msg,
+                                         sensor_msgs::image_encodings::MONO8);
+      } catch (cv_bridge::Exception &e) {
+        RCLCPP_ERROR(rclcpp::get_logger(__func__),
+                     "cv_bridge exception: %s", e.what());
+      }
+
+      cv::Mat image = image_ptr->image;
+      if (image.empty()) continue;
+      char tmp[30] = {0};
+      sprintf(tmp, "%.6f", rclcpp::Time(image_ptr->header.stamp).seconds());
+      std::string time(tmp);
+      fprintf(infra1_file, "%s %s\n",
+              time.c_str(), ("infra1/" + time + ".png").c_str());
+      fflush(infra1_file);
+      cv::imwrite(out_folder + "infra1/" + time + ".png", image);
+    }
+
+    // Handle infra2 message
+    if (bag_message->topic_name == infra2_topic) {
+      sensor_msgs::msg::Image::SharedPtr image_msg =
+          std::make_shared<sensor_msgs::msg::Image>();
+
+      rclcpp::Serialization<sensor_msgs::msg::Image> serialization;
+      serialization.deserialize_message(&serialized_msg, image_msg.get());
+      cv_bridge::CvImageConstPtr image_ptr;
+      try {
+        image_ptr = cv_bridge::toCvShare(image_msg,
+                                         sensor_msgs::image_encodings::MONO8);
+      } catch (cv_bridge::Exception &e) {
+        RCLCPP_ERROR(rclcpp::get_logger(__func__),
+                     "cv_bridge exception: %s", e.what());
+      }
+
+      cv::Mat image = image_ptr->image;
+      if (image.empty()) continue;
+      char tmp[30] = {0};
+      sprintf(tmp, "%.6f", rclcpp::Time(image_ptr->header.stamp).seconds());
+      std::string time(tmp);
+      fprintf(infra2_file, "%s %s\n",
+              time.c_str(), ("infra2/" + time + ".png").c_str());
+      fflush(infra2_file);
+      cv::imwrite(out_folder + "infra2/" + time + ".png", image);
+    }
+
+    // Handle depth message
+    if (bag_message->topic_name == depth_topic) {
+      sensor_msgs::msg::Image::SharedPtr image_msg =
+          std::make_shared<sensor_msgs::msg::Image>();
+
+      rclcpp::Serialization<sensor_msgs::msg::Image> serialization;
+      serialization.deserialize_message(&serialized_msg, image_msg.get());
+      cv_bridge::CvImageConstPtr image_ptr;
+      try {
+        image_ptr = cv_bridge::toCvShare(image_msg,
+                                         sensor_msgs::image_encodings::TYPE_16UC1);
+      } catch (cv_bridge::Exception &e) {
+        RCLCPP_ERROR(rclcpp::get_logger(__func__),
+                     "cv_bridge exception: %s", e.what());
+      }
+
+      cv::Mat image = image_ptr->image;
+      if (image.empty()) continue;
+      char tmp[30] = {0};
+      sprintf(tmp, "%.6f", rclcpp::Time(image_ptr->header.stamp).seconds());
+      std::string time(tmp);
+      fprintf(depth_file, "%s %s\n",
+              time.c_str(), ("depth/" + time + ".png").c_str());
+      fflush(depth_file);
+      cv::imwrite(out_folder + "depth/" + time + ".png", image);
+    }
+
+    // Handle aligned_d2c_topic message
+    if (bag_message->topic_name == aligned_d2c_topic) {
+      sensor_msgs::msg::Image::SharedPtr image_msg =
+          std::make_shared<sensor_msgs::msg::Image>();
+
+      rclcpp::Serialization<sensor_msgs::msg::Image> serialization;
+      serialization.deserialize_message(&serialized_msg, image_msg.get());
+      cv_bridge::CvImageConstPtr image_ptr;
+      try {
+        image_ptr = cv_bridge::toCvShare(image_msg,
+                                         sensor_msgs::image_encodings::TYPE_16UC1);
+      } catch (cv_bridge::Exception &e) {
+        RCLCPP_ERROR(rclcpp::get_logger(__func__),
+                     "cv_bridge exception: %s", e.what());
+      }
+
+      cv::Mat image = image_ptr->image;
+      if (image.empty()) continue;
+      char tmp[30] = {0};
+      sprintf(tmp, "%.6f", rclcpp::Time(image_ptr->header.stamp).seconds());
+      std::string time(tmp);
+      fprintf(aligned_depth_to_color_file, "%s %s\n",
+              time.c_str(), ("aligned_depth_to_color/" + time + ".png").c_str());
+      fflush(aligned_depth_to_color_file);
+      cv::imwrite(out_folder + "aligned_depth_to_color/" + time + ".png", image);
+    }
+
+    // Handle pointcloud message
+    if (bag_message->topic_name == pointcloud_topic) {
+      sensor_msgs::msg::PointCloud2::SharedPtr point_cloud_2_msg =
+          std::make_shared<sensor_msgs::msg::PointCloud2>();
+
+      rclcpp::Serialization<sensor_msgs::msg::PointCloud2> serialization;
+      serialization.deserialize_message(&serialized_msg, point_cloud_2_msg.get());
+
+      if (point_cloud_2_msg->data.empty()) continue;
+      char tmp[30] = {0};
+      sprintf(tmp, "%.6f", rclcpp::Time(point_cloud_2_msg->header.stamp).seconds());
+      std::string time(tmp);
+      fprintf(pointcloud_file, "%s %s\n",
+              time.c_str(), ("pointcloud/" + time + ".png").c_str());
+      fflush(pointcloud_file);
+      pcl::PointCloud<pcl::PointXYZ> cloud;
+      pcl::fromROSMsg(*point_cloud_2_msg, cloud);
+      pcl::io::savePCDFileBinary(out_folder + "pointcloud/" + time + ".pcd", cloud);
+    }
+
+    // Handle IMU message
+    if (bag_message->topic_name == imu_topic) {
+      sensor_msgs::msg::Imu::SharedPtr imu_msg =
+          std::make_shared<sensor_msgs::msg::Imu>();
+
+      rclcpp::Serialization<sensor_msgs::msg::Imu> serialization;
+      serialization.deserialize_message(&serialized_msg, imu_msg.get());
+
+      fprintf(imu_file, "%.8f %.8f %.8f %.8f %.8f %.8f %.8f\n",
+              rclcpp::Time(imu_msg->header.stamp).seconds(),
+              imu_msg->angular_velocity.x,
+              imu_msg->angular_velocity.y,
+              imu_msg->angular_velocity.z,
+              imu_msg->linear_acceleration.x,
+              imu_msg->linear_acceleration.y,
+              imu_msg->linear_acceleration.z);
+      fflush(imu_file);
+    }
+  }
+
+  bag_reader.close();
+
+  fclose(color1_file);
+  fclose(color2_file);
+  fclose(infra1_file);
+  fclose(infra2_file);
+  fclose(depth_file);
+  fclose(aligned_depth_to_color_file);
+  fclose(imu_file);
+
+  rclcpp::shutdown();
+
+  return 0;
+}
+
+