If you are just using it for reference for "rotomation",

(the act of animating your object to mimic 2d footage using said footage as a direct reference)

..which it sounds like you are doing, you could just map your video onto a plane, and just animate your object in front of that.

Emo has a great point with using Live, as that will help you also setup your camera/lens configuration & animation at the same time as well, so....

That is what I LOVE about Maya, is that there are a zillion ways to do everything

Good luck!