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how to add base link or world frame rviz

I m new user of rviz I am using Kinect 2 and want to see point cloud information I want to see the cloud information in rviz however my fixed frame popup only shows map ... however in different tutorial i have observed many other frames availble in the pop up. How can i add these frames in my pop up menu and how these are useful. and for me which frame is important.

Plz reply with details keeping in mind that i m new user of ros and rviz thankss