PRAAT software: http://www.fon.hum.uva.nl/praat/
It is only a short introduction. To achieve a good quality pitch contour, refer to the manual.
Create pitch contour:
Open and the audio file.Analyse periodicity.To pitch, a new file is created in Objects list.Export the pitch contour:
Objects list.Save.Save as text file....Select File > Import > PRAAT Pitch Contour menu.
Import.You can use them on temporal representations.