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Normally you should not define a direct transform between the optical frame of the kinect and your odometry. If you are using the ros openni driver, there is a camera_link frame with the depth- and optical-frames as children. This is using the standard x-forward terminology and should be used for setting the transform from base_link. There you only have to worry about the offsets in x, y anz z and maybe some rotation to account for the Kinect mounting.
Additionally you may want to have a look at REP 103 regarding the standard axis orientations.
P.S. to answer the inital question: You would need the set the offsets (x,y,z) and then in fixed axis RPY: -pi/2, 0, -pi/2. (at least i think so :))
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