For Visualization, the simplest way is to use our SmartToF Viewer.
1. Get the latest SmartToFViewer from SmartToF® SDK.
2. Open SmartToFViewer and click on "Open Replay", as shown in Fig. 1.
3. Choose the replay file at hand and confirm with clicking "OK".
4. Then click "Start" and then you can manipulate the replay just like a real device.
For replay based further development, you may refer to our sample code.
by uncomment line 31 in https://github.com/smarttofsdk/SDK/blob/master/windows/samples/python/sample_basic.py