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Thanks for the explanation on optical_frame and base_link, The ros openni wrapper will do these automatically, however,If you are using gazebo simulation, there won't be any optical frames as childer to your camera link. which can leads to confusing situation. If you are using gazebo, then refer to this https://answers.gazebosim.org/question/4266/gazebo-15-libgazebo_openni_kinectso-pointcloud-data-is-rotated-and-flipped/?answer=24822#post-id-24822