mocha should be able to track the floor pretty easily. You will want to track from end to beginning and draw a shape around the floor plane and avoid any foreground elements such as the instruments, etc. Then you export your track data.
There are multiple ways to attack your problem from compositing perspective:
1. Track in mocha AE and apply a “painted” patch to the track data. Because you will want to make you patch in perspective, you will want to use “Align Surface” button before exporting mocha data.
2. Track in mocha AE and use the MochaImport+ to stabilize a precomp of the floor, do your paint work, than remove the stabilize. (mamoworld.com has great tuts).
3. OR mocha Pro has remove module that could track in a painted clean plate and match the lighting shifts for a more realistic composite.
best,
R
Ross Shain
Imagineer Systems
http://www.imagineersystems.com