RViz camera view: other coordinate frame convention

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Depending on the launch file you use for your kinect, it might be that there is already a static_transform_publisher running that publishes a tf between camera_link and camera_rgb_optical_frame. You can check that easily by running

rosrun tf tf_monitor

If you want, you can easily give this camera_rgb_optical_frame as base link frame id to fovis_ros:

rosrun fovis_ros stereo_odometer _base_link_frame_id:=/camera_rgb_optical_frame

fovis_ros will then publish movements through tf and odometry messages using /odom as fixed frame and /camera_rgb_optical_frame as the moving (child) frame. If you set the fixed frame in rviz to /odom you should see the camera frames moving while moving the kinect.