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This behaviour is perfectly normal according to the axis convention specified in REP 103.
The correction for camera optical transforms is -90°, 0°, -90° in the roll, pitch and yaw rotations specified in the Suffix Frames section.

• First, publish a transform from /world to your Kinect ( say /camera_link):

  <!-- publish tf from world to the kinect_camera (camera_link) -->
  <node name="kinect_static_transform_publisher" pkg="tf" type="static_transform_publisher"
    args="1.274070 -0.011558 1.961223 -3.121294 0.611102 0.021866 world camera_link 100" />
  

• Finally, publish the correct optical transform from /camera_link to camera_rgb_optical_frame:

  <!-- publish tf from camera_link to camera_rgb_optical_frame -->
  <node name="kinect_optical_transform" pkg="tf" type="static_transform_publisher"
    args="0 0 0 -1.5707 0 -1.5707 camera_link camera_rgb_optical_frame 100" />