In Visio, just use math equation.
In Xfig, several ways: [1][2] add on the pic, [3] makes whole pic:
[1] use psfrag package, just input some characters such like 'x','z' in xfig figure and export to .eps file.
\begin{figure}[htpb]
\centering
\psfrag{x}{$x$}
\psfrag{z}{$z$}
\psfrag{xyz}{$(X_w,Y_w,Z_w)$}
\psfrag{zyzc1}{$(x_{c1},y_{c2},z_{c1})$}
\psfrag{xyzc2}{$(x_{c2},y_{c2},z_{c2})$}
\psfrag{dz}[][]{\colorbox{white}{$\triangle Z$}}
\includegraphics[height=2.in,keepaspectratio=true]{img/movecam_calibration.eps}
\caption{Calibration between world and camera} \label{fig:moving_camear}
\end{figure}
[2] use overpic package
\usepackage{overpic}
\includegraphics[width ...
\put(-20,40){\large{$X_p$}}
[3] run xfig with: xfig -specialtext -latexfont -startlatexFont default
type regular latex command $$ and export to pslatex. Two files are generated and copy both to your directory
\documentclass{article}
\usepackage{graphicx, epsfig}
\usepackage{color}
\begin{document}
\pagestyle{empty}
\input{figure.pstex_t}
\end{document}
generate .ps file, acrobate-crop-eps. (may change directory inside .pstex_t)
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