I use PDF-XChange Viewer. It's free, and it has an Export Function too. The advantage over simpy screenshoting is the resolution I can get. Most PDFs save the images in a higher resolution internally so you can zoom in and don't get blurred right away. When I screenshot it, I get a 1920x1080 image, crop it and end up with a 1800x900 or so maybe. Now depending on how the map is made, to get it to align in Roll20 I might have to blow the image up by factor 2 or 3, which results in massive blurryness when it ends up in Roll20, even at 100% zoom. With PDF XChange I can set the export DPI to 600 for example, and get an image that's about 5000x3000 large. Sure it's a big bigger, but is a MB really an issue these days? I then crop it and when I upload it into Roll20 I will not have to resize it as badly. The sharpness differnece is very noticeable. Of course, if the PDF you use saves it's images internally only with 200 DPI, then you won't notice a difference to simply extracting it with 300 or 200 DPI, as all it does is atificially resize it. I noticed that 600 seems to be the upper limit where you notice a difference at least with Paizo PDFs that I use. 1200 DPI results in 4 times bigger images but the image quality doesn't go up.