Showing LaserScans with different frames in rviz

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Hi all,

I have searched via google for several hours and still haven't found how to do a thing that appeaes very basic to me...

I have two laser scanners and correspondingly two LaserScans in rviz. These scanners have a known transformation defining their position to each other and provide complementary scans.

What I am trying to do is to view both LaserScans in rviz in a common frame (e.g. frame of the first scanner), so I want the LaserScan from the second scanner to be first transformed by a given tf transform to the frame of the first scanner. But the only thing I can do is to show both scans in a common frame defined in Global Options. As my second scanner has a differnt positon and accordingly a differnt view this does not make any sense...

The only possible solution appears to be to transform both scans to point clouds using the transformations but this can be a bit slow if you deal with larger scans.

I wonder if there is really no possibility to define an own reference frame for each LaserScan? If you add Axes to the view you can choose an own reference frame, so the Axes origin can be placed independently...

Thanks in advance