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This sounds as though it's a question of coordinate frames.

You don't need modify the point cloud data to do this you can instead set your RVIZ global frame to a suitable frame that it will appear in the orientation you want.

If you use a static transform publisher to define the rotation you need between the world frame and your kinect frame. When this is setup you will be able to set the RVIZ global frame to the world frame defined in the static transform, then you should see the point cloud as you expect.

You might also want to have a look at link textREP 103 which defines the coordinate conventions in ROS, the convention is different for optical sensors such as your kinect than it is for robotic platforms. This different is probably the cause of your issue.

This sounds as though it's a question of coordinate frames.

You don't need modify the point cloud data to do this you can instead set your RVIZ global frame to a suitable frame that it will appear in the orientation you want.

If you use a static transform publisher to define the rotation you need between the world frame and your kinect frame. When this is setup you will be able to set the RVIZ global frame to the world frame defined in the static transform, then you should see the point cloud as you expect.

You might also want to have a look at link textREP 103REP 103 which defines the coordinate conventions in ROS, the convention is different for optical sensors such as your kinect than it is for robotic platforms. This different difference is probably the cause of your issue.