Using 3d rotoscoping to animate characters

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Is there any tutorial on how to do this? Is this possible with using blender only, or do I need some external software to track movement?

The motion tracking is the least of your worries:
The problem is when he says ‘extrude it’ I got stumped(I’ve tried this before)


Thanks for the reply, the video was helpful. I also do not understand how did they do this “extruding”, maybe someone can shed some light on this?