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tully's answer is absolut correct, to my question.

the answer i need, i found here. here happens the tranformation stuff. https://github.com/ethz-asl/ethzasl_ptam/blob/master/ptam/src/PTAMVisualizer.cpp

my fault was: i don't know that i can gave many topics the same frame.id and that there must only one tf for two different frames to work in rviz, in my case world->camera. So i gave the pcl topic also the frame.id /world and everything works great. i can see the cloud in rivz :)