Parroteer lets you control a Parrot AR.Drone using gestures. The library can be used with various 3D cameras including the Intel RealSense and the older Intel Perceptual Computing Gesture Camera.
You can control the drone by placing your hands in front of the camera like you are holding a "virtual airplane yoke". When you steer left or right, the drone does the same. By pulling your hands back, the drone goes back as well. The library can be used to control all degrees of freedom of the quadrocopter.
This software is Open Source. Feel free to use it.
The software was demonstrated and showcased at about 25 conferences around the world. People were able to fly the drone without any preparation.