The request for "the point cloud of the hand as seen from the camera or a depth map (each pixel)" would generate alot of data. XYZ co-ords for each point in the polygon. More so, if you want a more dense cloud. I am not altogether sure that storing that amount of data will be of any use, but I assume you already have a system to process the collected data afterwards.

OTOH, if you only want to be able to call up a pose, from a Library of poses; then Poser already provides that facility, of course.

OTOH, I may have entirely misunderstood what was asked.