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I have edited my launch file to this:

  <!-- Start the Kinect (openni_camera) -->
        <group if="$(arg Kinect)">
          <include file="$(find openni_launch)/launch/openni.launch">
            <arg name="camera" value="kinect" />
          </include>
        </group>

You must configure the following:

RViz > Global Options > Fixed Frame: odom
RViz > PointCloud2 > Topic: /kinect/depth_registered/points

Which put the PointCloud2 data in the correct position relative to the robot: image description

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