Is there any commercial or public domain visualization software that accepts HDF4 files?

Yes, there are numerous tools that accept HDF files. Please refer to the Software Using HDF4 page for more detailed, though not complete, information.

Commercial tools that accept HDF include IDL and Matlab.

Comprehensive MATLAB, IDL and NCL example scripts and plots on how to access and visualize NASA HDF-EOS and HDF products such as MODIS, MISR, AIRS, TRMM, AMSR-E, CERES, QuikSCAT, Aquarius, SeaWIFS,ICESAT-2,MOPITT can be found on the HDF-EOS Tools and Information Center under hdfeos.org/zoo.