You can use the module PyMuPDF. This outputs all images as .png files, but worked out of the box and is fast.
import fitz
doc = fitz.open("file.pdf")
for i in range(len(doc)):
for img in doc.getPageImageList(i):
xref = img[0]
pix = fitz.Pixmap(doc, xref)
if pix.n < 5: # this is GRAY or RGB
pix.writePNG("p%s-%s.png" % (i, xref))
else: # CMYK: convert to RGB first
pix1 = fitz.Pixmap(fitz.csRGB, pix)
pix1.writePNG("p%s-%s.png" % (i, xref))
pix1 = None
pix = None
see here for more resources
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