If interested, here is the approach that I took:
I filmed live action footage of the top of a dresser in my spare room, and used clay spheres as tracking markers. I then imported the video footage into Nuke, and exported the whole thing out as an image sequence to be imported into Autodesk MatchMover. Once in Matchmover, I tracked the clay spheres, which generated accurate 3d spatial data, as well as a 3d camera so that I could replicate the live action footage in a 3d-computer generated environment. I then imported the scene into Maya, and set up dynamics so that the cubes would react to gravity and fall, as well as bounce on a non-rendered plane set up where the counter top would be. After this was done, I rendered out the cubes on a layer of their own, and then composited it together with the original image sequence that was exported from Nuke, within Autodesk Composite.


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