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I needed to setup a new frame "multi_map" in my launch file which I set as the "fixed frame" in rviz:

<node pkg="tf" type="static_transform_publisher" name="kinect1_tf"
    args="0.0 0.0 0.0 0 0 0 1 multi_map kinect1_link 100" />

<node pkg="tf" type="static_transform_publisher" name="kinect2_tf"
    args="0.0 0.0 0.0 0 0 0 1 multi_map kinect2_link 100" />

You have to modify the args to get your camera images to display where you want them. You can find more info about that at http://wiki.ros.org/tf#static_transform_publisher under item 6.3