As the title suggests im being asked by my annotation team to include the image reference with the point cloud. we have a video topic on the same bag file as the point cloud topic.

on Noetic, i use the following to make my point clouds and that is how I have been for a while so I'm not sure how I would go about including image references from the video topic in this command

rosrun pcl_ros bag_to_pcd <input_file.bag> <topic> <output_directory>

is there a different procedure I'm not aware of that allows me to have the pcd file include the video frame information with it?