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Point Cloud transformation error

Hello,

I am using stereo_image_proc to process data coming from a stereo system. When trying to visualize it in RVIZ I came across to the following issue: The point cloud (pointcloud2 and pointcloud topics) is not properly transformed. See the following images:

In gazebo:

https:// cloud.githubusercontent.com/assets/1283922/3115469/1744ac0e-e709-11e3-8e17-84c713713794.png

In RVIZ:

https:// cloud.githubusercontent.com/assets/1283922/3115472/2044a638-e709-11e3-8023-6b9ed6eeb568.png

Any ideas? Thanks..!

P.S.: The cameras seem properly transformed. Sorry about the links (no images/links because my karma is low). See images below:

Left:

https:// cloud.githubusercontent.com/assets/1283922/3115534/eef65dbe-e709-11e3-8ae9-793dcd54bb60.jpg

Right:

https:// cloud.githubusercontent.com/assets/1283922/3115539/fafae6fc-e709-11e3-8d06-c4366250d28e.jpg