ICAM
Icarus to Animation: Master converter
ICAM is a freeware tool for converting camera tracking data from Icarus or Voodoo to Animation: Master. ICAM converts the tracking data to Animation: Master project files, including a point cloud for easy reference. A handy gizmo is included in the projects, so you can easily adjust the focal length of the camera if needed.
Icarus and Voodoo are both freeware applications for non-commercial use, so that makes ICAM a non-commercial application as well. It is 100% free.