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Project points will, if your inputs are correct, provide the locations on the FPA that would see those 3d points. To be in the image, it must be within the bounds of the FPA, which is (0,0) to (in your case) (1280,720).
You can subtract the camera location, or, if it's not too large, just put the camera location in the tvec variable. Either should produce the same results, but it can fail if the camera tvec is too large a magnitude.
Please note that OpenCV uses the camera coordinate system +X is right, +Y is down, and +Z is forward. So an rvec and tvec of all zeros (No rotation, no translation) would see the point (0,0,100) as exactly the center of the image. Make sure your quaternions represent that properly.
