You can use any of the open source codes available for this purpose or develop using Google Project Tango as per your convenience.
Links to a few of the opensource codes available.
Further this functionality needs to be integrated in an app with the following requirement
1. Sender to take a 3 min 2D video recording using a regular smartphone camera and send.
2. Receiver to see a 3D digital view of the recording rendered onto his own environment when seen through his smartphone camera while using mobile app using augmented reality markerless SDKs such as Wikitude (http://www.wikitude.com/download/) or Kudan (https://www.kudan.eu/download/).
The solution is required for android and iOS platforms for mobile.
Time for implementation:
Cost for project: