You can add a crosshair constructed from simple geometry to your camera like this:
var material = new THREE.LineBasicMaterial({ color: 0xAAFFAA });
// crosshair size
var x = 0.01, y = 0.01;
var geometry = new THREE.Geometry();
// crosshair
geometry.vertices.push(new THREE.Vector3(0, y, 0));
geometry.vertices.push(new THREE.Vector3(0, -y, 0));
geometry.vertices.push(new THREE.Vector3(0, 0, 0));
geometry.vertices.push(new THREE.Vector3(x, 0, 0));
geometry.vertices.push(new THREE.Vector3(-x, 0, 0));
var crosshair = new THREE.Line( geometry, material );
// place it in the center
var crosshairPercentX = 50;
var crosshairPercentY = 50;
var crosshairPositionX = (crosshairPercentX / 100) * 2 - 1;
var crosshairPositionY = (crosshairPercentY / 100) * 2 - 1;
crosshair.position.x = crosshairPositionX * camera.aspect;
crosshair.position.y = crosshairPositionY;
crosshair.position.z = -0.3;
camera.add( crosshair );
scene.add( camera );
Three.js r107
http://jsfiddle.net/5ksydn6u/2/
In case you dont have a special usecase where you need to retrieve the position and rotation from your camera like you are doing, I guess your "wandering off" could be fixed by calling your raycaster with these arguments.:
raycaster.set( camera.getWorldPosition(), camera.getWorldDirection() );
var intersections = raycaster.intersectObjects( cubes.children );
Cast visible ray
Then you can visualize your raycast in 3D space by drawing an arrow with the arrow helper. Do this after your raycast:
scene.remove ( arrow );
arrow = new THREE.ArrowHelper( camera.getWorldDirection(), camera.getWorldPosition(), 100, Math.random() * 0xffffff );
scene.add( arrow );