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rpy represents the roll, pitch and yaw angles. Assuming that the x axis points forward, the y axis to the left and the z axis upwards, then roll is rotation about the x axis, pitch is rotation about the y axis and yaw is rotation about the axis. In your case you want the pitch angle. a pitch angle of 90 degrees means your pointing the camera upwards, and -90 means its pointing downwards.

May I ask, are you using the fovis_ros wrapper? If so, how did you get it to work with the Kinect (because aparently the fovis_ros wrapper does not support the kinect yet but only stereo vision)?