Creating a dataset

[4kaws]

Hello, a few days ago I started working on a project whose aim is to avoid obstacles in the simulation autonomously by the drone and travel from point A to point B. Now I have reached the stage where I want to project points on objects in order to check if everything is in order before creating bounding boxes and later a dataset with them.
For now, I want to project a point on the middle of the "Construction Cone" object, having the drone in its initial position when I open the simulation. The problem I ran into is that, following the logic of my transformation chain, the point seems to be projected incorrectly.
This is my first project that I want you to do using Gazebo and ROS (being still in college) and since I haven't found much guidance from anyone else, I thought I could ask here what the solution could be. Besides defining the necessary rotation for aligning the camera with the Z axis of the world and extracting the intrinsic and extrinsic parameters of the camera and the position and orientation of the object, I don't know what else I could miss to make the projection correctly. Thank you for possible solutions.

Here's my code so far:
https://github.com/4kaws/object_detection_drone/blob/master/README.md?plain=1

And here's an image with the projected point (the cone on which the point must be projected is the first on the right):