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Please try avoiding using the make-up data to test, since there could be so many details to pay attention to.
In your cases, points [0,0,0] and [0,0,5] are ineffective. Both of them would not be seen by the cameras, thus making it meaningless to project them to cameras. Besides, points on the same plane are not useful for calculating the essential matrix. And the least number of points would be 5 for essential matrix, while usually more would be needed in actual usage. The algorithm would use RANSAC to eliminate outliers.
What's more, keep in mind that the translation vectors you get from findEssentialMat() are unit vectors. "By decomposing E, you can only get the direction of the translation, so the function returns unit t.", from document of decomposeEssentialMat().
