I do not motion-track, if that's what you're asking, but I've used Syntheyes when I have done any tracking.
Well... Not sure what you'd find easy. But, if you've done the work I've seen here, then you obviously have some skills and can handle harder-to-learn programs.
Your third item, "matching the 3D model and the real scene"... that involves motion or camera tracking, and lighting. Those are absolute essentials to getting your CG to fit in to your film plate. There are other considerations as well, but those two must be met.