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OK, it's pretty straightforward if you look at the code of the functions. The problem is that I was looking to the second camera of a stereo pair, and therefore the components Tx is non-zero. Therefore you have to make a couple of translations:

cv::Point2d pixel(r,c);
cv::Point3d ray =  model.projectPixelTo3dRay(pixel);
float tx_fx = model.Tx()/model.fx();
cv::Point3d point(z*(ray.x+tx_fx)-tx_fx,z*ray.y,z*ray.z);
cv::Point2d back_pixel = model.project3dToPixel(point);