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I would say use rviz!

There are at least two ways I know of to visualise the tf frames and kinect's rgb image stream at the same time:

1) Add a tf and a camera display. After choosing the right topics, you should see the rgb image with an overlay of the tf frames in the camera window.

2) Add a tf and a point cloud display: After choosing the right topics (remember to set the colour transformer of the point cloud to RGB8), you should see the point cloud with the rgb image mapped on it and the tfs.

Does that suit your needs?