is there any tool to show hierarchy of devices in Linux?

I want to see a tree-like structure of all devices in Linux. In Windows, I can use Device Manager with "show by connection". BSD systems report such data to dmesg in format "child at parent" and have utilities such as devinfo , so it is easy to understand relations between devices. In Linux this information is stored in `/sys`, but its format is not user friendly. I can query each bus with `lspci, lsusb, lsscsi etc, but is there something I can use to recreate full device hierarchy? lshw` shows bus information but not devices.