function [originLabel,xLabel,yLabel] = drawImageAxesLabels(this,imagePoints) 
    
    numBoardRows = this.BoardSize(1) - 1;
    numBoardCols = this.BoardSize(2) - 1;
    
    % Reshape checkerboard corners to boardSize-shaped array
    boardCoordsX = reshape(imagePoints(:,1),[numBoardRows numBoardCols]);
    boardCoordsY = reshape(imagePoints(:,2),[numBoardRows numBoardCols]);
    boardCoords = cat(3,boardCoordsX,boardCoordsY);
    
    % Origin label (check if the origin location is inside the image)
    if ~isnan(boardCoordsX(1,1))
        p1 = boardCoords(1,1,:);
        
        refPointIdx = find(~isnan(boardCoordsX(:,1)),2);
        p2 = boardCoords(refPointIdx(2),1,:);
        
        refPointIdx = find(~isnan(boardCoordsX(1,:)),2);
        p3 = boardCoords(1,refPointIdx(2),:);
        
        [loc, theta] = getAxesLabelPosition(p1,p2,p3);
        
        originLabel.Location = loc;
        originLabel.Orientation = theta;
    else
        originLabel = struct;
    end
    
    % X-axis and Y-axis labels
    xLabel = struct('Orientation',[],'Location',[]);
    yLabel = struct('Orientation',[],'Location',[]);
    
    %--------------------------------------------------------------
    % p1+v
    %  \
    %   \     v1
    %    p1 ------ p2
    %    |
    % v2 |
    %    |
    %    p3
    function [loc, theta] = getAxesLabelPosition(p1,p2,p3)
        v1 = p3 - p1;
        theta = -atan2d(v1(2),v1(1));
        
        v2 = p2 - p1;
        v = -v1 - v2;
        d = hypot(v(1),v(2));
        minDist = 40;
        if d < minDist
            v = (v/d) * minDist;
        end
        loc = p1 + v;
    end
end