The goal of tracking is to create points that follow the movement of key areas in the scene. With this tracking information, the solver can then analyze the shot and extract 3D locations and camera or object movement.
This step is so critical it has its own chapter. See Shot strategy In particular, read Choosing good points.
See Track a point and Correct track failure for instructions. Tracking a point is the same whether you are solving for camera movement or object movement.
You don’t have to make tracking perfect before you solve. We recommend tracking and solving in passes. Track the basic points and get a rough solve, then add more track points to increase the solution’s accuracy. See Determine when you’re ready to solve.