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In three separate terminals, run:

roscore

In three separate terminals, run:

roscore
roslaunch openni_launch kinect_frames.launch
roslaunch openni_launch openni.launch

Then, launch rviz with:

rosrun rviz rviz

Once that's up, select frames (any frames) from the dropdown menus beside "fixed frame" and "target frame". Then, add a PointCloud2 display and select "/camera/depth/points" as its topic. That should display the 3D cloud. You'll probably also want to tweak the display options to make it easier to see (changing from an "intensity" colour transform to an "axis" colour transform, for instance).