Rift for 3d drone mapping

hey guys. Some of my friends are developing hardware to create a 3d map of a space that can later be explored, with applications for first response etc. We would like to be able to interact with the space using the rift, so I am supposed to figure out how to access the raw sensor data from the rift. I don't have much experience coding in c++, can anyone help me figure out how to do this? I am using a mac btw