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I would like to add that librealsense provides frame handling and camera access APIs and the RealSense for Linux provides libraries, tools and samples to develop applications using Librealsense APIs. The SDK provides functionality of record and playback of camera streams. Here you can find record and playback samples: https://github.com/IntelRealSense/realsense_sdk/tree/master/samples/src. I’m trying to test those samples, however, you could try it too and let us know your results.
Additionally, please take a look at the Librealsense and Intel RealSense SDK for Linux documentation for more details.