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Ok, Obvious thing is you're doing something weird with the camera intrinsics. You've definitely done that wrong.
The focal length should be expressed in pixels. Those numbers you have are definitely not in pixels. So I would expect FL values of about 1e3-1e4, then the principal point values should be close to cols/2, rows/2.
If you fix that, then the part where you multiply the inverseCameraExtrinsics gets simpler, because you just use (x,y,1) as your pt, and don't have to do that math there, which I think you've done wrong too.
Then you get the results you expect out of projectPoints, because it also expects the camera intrinsics to be in units of pixels.
