In the ROS standard, Z is forward, Y is down, and X is to the right (i.e., its left handed). All seem ok in RViz because we stamp them with camera_frame, no with depth_optical_frame. In fact, I'm a bit confused about which frame should have the pc... in kinect they use rgb_optical_frame, but this doesn't need to be the case with softkinetic cameras.
In the ROS standard, Z is forward, Y is down, and X is to the right (i.e., its left handed). All seem ok in RViz because we stamp them with camera_frame, no with depth_optical_frame. In fact, I'm a bit confused about which frame should have the pc... in kinect they use rgb_optical_frame, but this doesn't need to be the case with softkinetic cameras.