I'm trying to add objects in a 3d package(Blender) using recorded footage.

I've played with Icarus and it's great to capture the camera movement. Also the Blender 2.41 importer script works in Blender 2.49 as well. The problem is I can't seem to get 3d coordinates for objects.

I have tried Autodesk(RealVIZ) MatchMover 2011 and gone through the tutorials. Tutorial 3 shows how to link a vertex from a 3d mesh to a 2d trackpoint, but the setup is for camera movement. Tutorial 4 goes into Motion capture, but it uses 2 videos of the same motion taken with 2 cameras from different viewpoints. I've tried to bypass that using the same footage twice, but that failed, as the 3d coordinate system ends up messed up.

1. What software do you recommend for this (mapping 3d coordinates to 2d tracked points and importing them into a 3d package) ?
2. What is the recommended technique ?
3. Any good examples out there ?

Thanks, George