Putting axis in middle of Charuco

Currently I am working on a project using opencv which involves obtaining the distance from a charuco to a camera, I want to display the axis(x, y, z) on the center of the charuco board. At the moment the axis are displayed on the bottom left of the charuco board.

For further context I am working with a webcam obtaining real time feed, is there any method to place the axis in the center?

how do you recover the pose?

turn rvec and tvec into a pose matrix.
formulate a translation matrix to the center.
compose both matrices (in the right order).
turn that back into rvec and tvec only if any APIs require that form.