I've created a track using the (nowadays) free Autodesk Matchmover. Using the FBX format, I can transfer the camera track to fusion without problems. But I could not figure out a way of transferring / importing the point cloud (although it should be contained in the FBX as there is an extra checkbox for this).
From matchmover export the data as Maya .ma file format, inside fusion, create a pointcloud3D node, and import the ma file. It exports both the camera, and the point cloud info.