How to visualize tf data in python?

edit

I would like to visualize tf data from a bag I have in python(it should look like it looks in rviz). Maybe using rviz, but it doesn't have to be. I know I could use python to call system calls, but this feels very clunky. I currently am visualizing images like this:

 bag = rosbag.Bag(os.path.join(Dataset.bags_path, dataset.name + ".bag"))
    for topic, msg, t in bag.read_messages(topics=topics):
        image = bridge.imgmsg_to_cv2(msg, "bgr8")
        cv2.imshow("Image", image)
        cv2.waitKey(10)
        # visalize tf somehow

Is there a similar way to do this for the tf data?

EDIT: I would like to see a certain feature of the tf data. The feature would be a certain frame not moving too much. This I would like to verify visually and not programmatically, since I'm afraid that might be too finiky. When I verified that, I would like to press space and to record the timestamp of that moment. For that I thought it would be a good idea to visualize the tf tree inside of a python program, so that I can grab the timestamp directly in the code on a space press. Right now I play the bag manually and then pause it and copy paste the timestamp into a file, which is cumbersome. I hope this was enough info, let me know if it is still unclear.