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This is the standard camera coordinate system.

The easiest solution I see to your problem is to publish a transform between the camera system and the camera's optical system, e.g. by using a tf static_transform_publisher.

Then select that system in rviz instead of the optical on that, you have now.

This is the standard camera optical coordinate system.

The easiest solution I see to your problem is to publish a transform between the camera system and the camera's optical system, e.g. by using a tf static_transform_publisher.

Then select that system in rviz instead of the optical on that, you have now.