Joe , 

  I have downloaded the V2C utility  and am at where you are at . I can get the Camera moves from Voodoo into carrara and they match up to the background animation, I had to resize things a bit but it is close enough.    I rendered an animation with  blocks on the ground and there was only one noticeable time when the block moved out of sync with the background so I am happy about that.
  I too had the camera pointing towards the ground which made placing things a pain, I did group the Voodoo camera and the tracking points together then rotated the new group.  I had to use the numerical input  to rotate , using the manipulator  to rotate didn't work . It is still hit and miss but I got it to work so I am happy.

Mike