code: public static void drawLabelCenter(Se3_F64 targetToCamera, CameraPinholeBrown intrinsic, String label,
  									   Graphics2D g2 , double scale)
  	{
  		// Computer the center of the fiducial in pixel coordinates
  		Point2D_F64 p = new Point2D_F64();
  		Point3D_F64 c = new Point3D_F64();
  		WorldToCameraToPixel worldToPixel = PerspectiveOps.createWorldToPixel(intrinsic, targetToCamera);
  		worldToPixel.transform(c,p);
  
  		drawLabel(p,label,g2,scale);
  	}
docs: Draws a flat cube to show where the square fiducial is on the image