About, 1. Camera Extrinsic Parameters, and 2. Odometry Differences in rostopic and gazebo

[allenthreee]

Hi,

I have a few questions that I hope you could help me with:

1. Could you please provide the extrinsic parameters of the camera mounted on the drone?(or I tried to get it by myself(but NOT sure am I correct))

2. I noticed some differences in the odometry information when accessing it through rostopic and gazebo. Could you please explain why this is the case? (shown in the Figure below)
   

The goal point we publish here is (-3,3,2)
way_point_pub = rospy.Publisher('red/position_hold/trajectory', MultiDOFJointTrajectoryPoint)
While the drone ends up at (-2,4,2)

I appreciate your time and assistance in this matter.

Best regards,
Allen