Look at www.digitaltutors.com (register required for viewing videotutos). There have a specified videotutorial using idmatte, and you will see how to use this the same way for objectid.
However this is simply. The common methods are depending the source.
case 1: Object ID is into image file as extra information (.RPF, .EXR)
case 2: Idmatte is a separate color image to select different objects by own color-area (.tif, .tga, and any image format without compression or with soft compression).
In case 1, need that Fusion support the image format. RPF is a Autodesk owner format and is not supported in Fusion. I think that is not supported. Then you need use .EXR and include ObjectID and Coverage (very important), when saving the image from you 3D application. In Fusion, needs extract ObjectID from image activating ObjectID in extra parameters from loader if this is OpenEXR.
In case 2, load beauty pass, idmatte pass and pixel coverage pass in your composition.
Add a Channel Boolean op and conect beauty to BG channel boolean and idmatte to FG input of channel boolean. Also connect pixel coverage to Matte input.
In the channel boolean parameters, Color Channel tab, set Red, Green and Blue to Do NOthing, and in the Aux Channels tab, turn on Enable Extra Channels, and set ObjectId to FG Hue and MaterialID to FG Saturation. Also set Z Coverage to Matte.
In both cases then you can use ObjectID or IDmatte from Fusion op’s. For instance, add a Color Corrector and in tab of “nuclear” icon, acticvate ObjectID and pick the object area in the image, and you will see how changes are masking.
Note: In mi opinion is more practical case 2 because size of formats how RPF, EXR, HDR, etc. is bigger, and because I cannot obtain extract correctly ObjectID from .exr file.
Note2: For coverage setting I connect coverage loader as mask of idmatte loader. Also you can before adding a Matte Control for more precision control of boundaries.