Determine extrinsic camera with opencv to opengl with world space object

Question

I\'m using opencv and openframeworks (ie. opengl) to calculate a camera (world transform and projection matrixes) from an image (and later, several images for triangulation)

Answer 1

For now at least I'm treating my Edit 2 (ImageSize must be something bigger than 1,1) as the fix as it produced results much, much more like what I was expecting.

I might have things upside down at the moment, but this is producing pretty good results.