Reference Frame for point cloud

[KamalDSOberoi]

Hello,

I have doubt that out of all the reference frames defined within depth sensor (camera_link, camera_rgb_frame, camera_rgb_optical_frame, camera_depth_frame or camera_depth_optical_frame), in which frame is the point cloud displayed in rviz?

Thanks for the guidance !!  

[matlabbe]

In the fixed frame set in the general options of RVIZ: https://www.youtube.com/watch?v=rZ0xyzfG-tY