diff --git a/frc971/vision/visualize_robot.cc b/frc971/vision/visualize_robot.cc
new file mode 100644
index 0000000..0bbe507
--- /dev/null
+++ b/frc971/vision/visualize_robot.cc
@@ -0,0 +1,74 @@
+#include "frc971/vision/visualize_robot.h"
+#include "glog/logging.h"
+
+#include <opencv2/calib3d.hpp>
+#include <opencv2/core/eigen.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc.hpp>
+
+namespace frc971 {
+namespace vision {
+
+cv::Point VisualizeRobot::ProjectPoint(Eigen::Vector3d T_world_point) {
+  // Map 3D point in world coordinates to camera frame
+  Eigen::Vector3d T_camera_point = H_world_viewpoint_.inverse() * T_world_point;
+
+  cv::Vec3d T_camera_point_cv;
+  cv::eigen2cv(T_camera_point, T_camera_point_cv);
+
+  // Project 3d point in camera frame via camera intrinsics
+  cv::Mat proj_point = camera_mat_ * cv::Mat(T_camera_point_cv);
+  cv::Point projected_point(
+      proj_point.at<double>(0, 0) / proj_point.at<double>(0, 2),
+      proj_point.at<double>(0, 1) / proj_point.at<double>(0, 2));
+  return projected_point;
+}
+
+void VisualizeRobot::DrawLine(Eigen::Vector3d start3d, Eigen::Vector3d end3d) {
+  cv::Point start2d = ProjectPoint(start3d);
+  cv::Point end2d = ProjectPoint(end3d);
+
+  cv::line(image_, start2d, end2d, cv::Scalar(0, 0, 255));
+}
+
+void VisualizeRobot::DrawFrameAxes(Eigen::Affine3d H_world_target,
+                                   std::string label, double axis_scale) {
+  // Map origin to display from global (world) frame to camera frame
+  Eigen::Affine3d H_viewpoint_target =
+      H_world_viewpoint_.inverse() * H_world_target;
+
+  // Extract into OpenCV vectors
+  cv::Mat H_viewpoint_target_mat;
+  cv::eigen2cv(H_viewpoint_target.matrix(), H_viewpoint_target_mat);
+
+  // Convert to opencv R, T for using drawFrameAxes
+  cv::Vec3d rvec, tvec;
+  tvec = H_viewpoint_target_mat(cv::Rect(3, 0, 1, 3));
+  cv::Mat r_mat = H_viewpoint_target_mat(cv::Rect(0, 0, 3, 3));
+  cv::Rodrigues(r_mat, rvec);
+
+  cv::drawFrameAxes(image_, camera_mat_, dist_coeffs_, rvec, tvec, axis_scale);
+
+  if (label != "") {
+    // Grab x axis direction
+    cv::Vec3d label_offset = r_mat.col(0);
+
+    // Find 3D coordinate of point at the end of the x-axis, and project it
+    cv::Mat label_coord_res =
+        camera_mat_ * cv::Mat(tvec + label_offset * axis_scale);
+    cv::Vec3d label_coord = label_coord_res.col(0);
+    label_coord[0] = label_coord[0] / label_coord[2];
+    label_coord[1] = label_coord[1] / label_coord[2];
+    cv::putText(image_, label, cv::Point(label_coord[0], label_coord[1]),
+                cv::FONT_HERSHEY_PLAIN, 1.0, cv::Scalar(0, 0, 255));
+  }
+}
+
+void VisualizeRobot::DrawBoardOutline(Eigen::Affine3d H_world_board,
+                                      std::string label) {
+  LOG(INFO) << "Not yet implemented; drawing axes only";
+  DrawFrameAxes(H_world_board, label);
+}
+
+}  // namespace vision
+}  // namespace frc971