Head Pose Estimation with OpenCV & OpenGL Revisited [w/ code]

So I was contacted earlier by someone asking about the Head Pose Estimation work I put up a while back. And I remembered that I needed to go back to that work and fix some things, so it was a great opportunity.
I ended up making it a bit nicer, and it's also a good chance for us to review some OpenCV-OpenGL interoperation stuff. Things like getting a projection matrix in OpenCV and translating it to an OpenGL ModelView matrix, are very handy.
Let's get down to the code.
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