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Once you have a tripod solve, you can add 3D elements into it very easily, and they will all stick. That's the good news.
The bad news is that the trackers cannot help tell you where to position your elements in 3D. As well as the discussion here, see Tripod and Lock-Off Shot Alignment.
You have a number of options:
You can take the default camera positioning, and adjust inserted 3D element positioning as it suits you,
You can use the Whole button on the 3D Panel to move the entire scene around instead, to match up with your elements (perhaps an imported model),
You can put constraints on a few trackers, especially on the horizon (see below),
If you have various parallel and perpendicular straight lines in the imagery, you can use alignment lines to help determine the camera placement,
or if you have a pre-existing set model, you can drop tracker seed points onto it to find their 3D coordinates, then do a full 3D solve!
Note again that the XYZ coordinates of a Far point are a direction, not a position.
The actual values shown are multiplied by the world size.
With the default world size of 100, the values 100,0,0 constrain a point to be infinitely far on the horizon, in the direction parallel to the X axis.
With one constraint like that, all you need to determine the orientation is a second horizon tracker that constrains Z or Y to be zero (depending on the Z-Up or Y- Up coordinate setting). You may need to set a polarity constraint +/- as well.
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