We are developing an extensible, open-source framework that can localize and track rigid bodies using a network of cameras (both RGB and depth). This system is motivated by two design goals - (i) ease of setup, and (ii) ability to be agnostic of individual cameras and recognition algorithms. The goal of this implementation is to be a poor man's motion capture system that can be quickly set up for experimentation and provide accurate 3-D pose of the rigid body and scalable across cameras and the volume of coverage.