Example with Python
====================
    There are several steps to get camera data: 
        1. create a camera instance.
        2. initialize camera instance.
        3. start the camera.
        4. request a frame.
        5. get frame data
        6. release frame space
        7. stop the camera

----------        
example
----------
    ::
        
        import sys
        import cv2
        import numpy as np
        import ArducamDepthCamera as ac

        print(dir(ac))

        MAX_DISTANCE = 4

        def process_frame(depth_buf: np.ndarray, amplitude_buf: np.ndarray) -> np.ndarray:
                
            depth_buf = np.nan_to_num(depth_buf)

            amplitude_buf[amplitude_buf<=7] = 0
            amplitude_buf[amplitude_buf>7] = 255

            depth_buf = (1 - (depth_buf/MAX_DISTANCE)) * 255
            depth_buf = np.clip(depth_buf, 0, 255)
            result_frame = depth_buf.astype(np.uint8)  & amplitude_buf.astype(np.uint8)
            return result_frame 

        class UserRect():
            def __init__(self) -> None:
                self.start_x = 0
                self.start_y = 0
                self.end_x = 0
                self.end_y = 0

        selectRect = UserRect()

        followRect = UserRect()

        def on_mouse(event, x, y, flags, param):
            global selectRect,followRect
            
            if event == cv2.EVENT_LBUTTONDOWN:
                pass

            elif event == cv2.EVENT_LBUTTONUP:
                selectRect.start_x = x - 4 if x - 4 > 0 else 0
                selectRect.start_y = y - 4 if y - 4 > 0 else 0
                selectRect.end_x = x + 4 if x + 4 < 240 else 240
                selectRect.end_y=  y + 4 if y + 4 < 180 else 180
            else:
                followRect.start_x = x - 4 if x - 4 > 0 else 0
                followRect.start_y = y - 4 if y - 4 > 0 else 0
                followRect.end_x = x + 4 if x + 4 < 240 else 240
                followRect.end_y = y + 4 if y + 4 < 180 else 180
                
        def usage(argv0):
            print("Usage: python "+argv0+" [options]")
            print("Available options are:")
            print(" -d        Choose the video to use")


        if __name__ == "__main__":
            cam = ac.ArducamCamera()
            if cam.init(ac.TOFConnect.CSI,0) != 0 :
                print("initialization failed")
            if cam.start(ac.TOFOutput.DEPTH) != 0 :
                print("Failed to start camera")
            cam.setControl(ac.TOFControl.RANG,MAX_DISTANCE)
            cv2.namedWindow("preview", cv2.WINDOW_AUTOSIZE)
            cv2.setMouseCallback("preview",on_mouse)
            while True:
                frame = cam.requestFrame(200)
                if frame != None:
                    depth_buf = frame.getDepthData()
                    amplitude_buf = frame.getAmplitudeData()
                    cam.releaseFrame(frame)
                    amplitude_buf*=(255/1024)
                    amplitude_buf = np.clip(amplitude_buf, 0, 255)

                    cv2.imshow("preview_amplitude", amplitude_buf.astype(np.uint8))
                    print("select Rect distance:",np.mean(depth_buf[selectRect.start_y:selectRect.end_y,selectRect.start_x:selectRect.end_x]))
                    result_image = process_frame(depth_buf,amplitude_buf)
                    result_image = cv2.applyColorMap(result_image, cv2.COLORMAP_JET)
                    cv2.rectangle(result_image,(selectRect.start_x,selectRect.start_y),(selectRect.end_x,selectRect.end_y),(128,128,128), 1)
                    cv2.rectangle(result_image,(followRect.start_x,followRect.start_y),(followRect.end_x,followRect.end_y),(255,255,255), 1)
            
                    cv2.imshow("preview",result_image)

                    key = cv2.waitKey(1)
                    if key == ord("q"):
                        exit_ = True
                        cam.stop()
                        sys.exit(0)

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Test Results
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.. image:: ../_static/images/python_test.png
   :alt: python_test
   :align: center