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:
Openand the audio file.
To pitch, a new file is created in
Export the pitch contour:
Save as text file....
PRAAT Pitch Contour menu.
You can use them on temporal representations.