Use line strip or line list can do this
Let me finished the code snippet once other work done.
References:
[1] [（十）ROS在rviz中显示空间中的直线（visualization_msgs/Marker 消息）(https://blog.csdn.net/ktigerhero3/article/details/70332256)
[2] rvizDisplayTypesMarker
[3] RVIZ可视化窗口中能给检测到目标添加一个立方体的框吗？
[4] rviz_visual_tools/rviz_visual_tools_demo.cpp at melodic-devel · PickNikRobotics/rviz_visual_tools
[5] WireframeCuboid() rviz_visual_tools: rviz_visual_tools::RvizVisualTools Class Reference
[6] jsk_visualization/jsk_rviz_plugins at master · jsk-ros-pkg/jsk_visualization
[7] Transparent cubes in RViz
[8] ROS之rviz显示历史运动轨迹、路径的各种方法（visualization_msgs/Marker、nav_msgs/Path） - 白夜行的狼的博客
[9] PickNikRobotics/rviz_visual_tools: C++ API wrapper for displaying shapes and meshes in Rviz
[10] RVIZ（一）:发送基本形状 - WisdomXLH的博客 - CSDN博客
[11] rviz/DisplayTypes/Marker - ROS Wiki
[12] rviz/Tutorials/Markers: Basic Shapes - ROS Wiki
[13] rviz/Tutorials/Markers: Points and Lines - ROS Wiki
[14] Design a bounding box in Rviz using poses information - ROS Answers: Open Source Q&A Forum