For the past few years, I've been tracking shots from Boujou to Blender, using Blender 2.49B to 2.9 (Thats one of the best, non-bugged ways to transfer tracks). Though, shots like this where the "iron-man-arm" is flying towards the subject, it feels so flat! Why is there no sense of depth? From far away to up-close feels like a simple image getting scaled-up. Boujou wants to set the focal lenth to 73-ish in Blender- but makes the motion tracking points not line up with the footage. So once I manually change the focal-length to have the motion tracks line up perfectly with the footage, I get that loss of depth the camera had previously. In addition, the tracking-points line up with the exact focal-length my camera was filming at, so clearly me manually lining up the track is the right way to go- I think.
If you want to see the HD-version