Hey Pedro,
Yes – mocha Pro v3 has the 3D camera solve and can also be used for 3D object track.
The key is first tracking at least 2 or more planes (rigid non moving planes like set, floor, walls, etc). Next, do a camera solve on selected planes.
Lastly, before you export your solve, do a 2D track on the moving object.
Now when you export your selected layers (including the motion object layer) out of the 3D solve module, you will get 3D nulls for all the layers including the moving object.
This video shows a moving object 3D track with mocha Pro v3:
https://vimeo.com/50599990
Note – mocha AE v3 also includes the 3D camera solve as well.
Hope this helps,
-Ross
Ross Shain
Imagineer Systems
http://www.imagineersystems.com