Need some direction using the ToF camera with RPi

I’ve been searching around on the web for programing information for the RPi TOF camera. I’m really pushing the limits of my programing abilities here by taking this project on so I’ll just ask for a little help. My end goal is really rather simple (ish). I want to be able to poll the tof camera and store the returned results in a 240x180 array where each element of the array represents the distance for that pixel. Initially I will be using a RPi 3 (I’ll switch to a RPi 4 when and if they ever become available again) and python.

I’ve seen examples of getting info from the camera but I’m having difficulty figuring out what I’l seeing. I think most of my problem stem from understanding the nomenclature and terminology that people in this area talk in. Any help or suggestions would be appreciated.