I need depth masses and export them in a 3D format
Possibly, as anything is possible, but this isn’t going to be an easy task nor do I know exactly how it will work. I can, at least, put you in the right direction.
You’ll need the following:
USB Hacker Cable
OpenNI 2 to allow for the sensor to talk to your Rasberry Pi
Open CV to get depth imaging and (possibly) 3D file formats
In-depth knowledge of C/C++
Though I do not have examples to go by, the above items should get you started.