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rviz is the canonical tool for displaying data in ROS; it has built-in plugins for maps, transforms, most types of sensors, and a fair number of other things. It also handles TF and displays the relative position of different data sources with respect to each other in 3D.

ROS doesn't provide any other C++ libraries for displaying graphics or interacting with images; there are already lots of good C++ libraries for doing these things if you want to integrate that functionality directly into your program.