code: def frames(self):
          
          _, phoxi_depth_im, _ = self._phoxi.frames()
          webcam_color_im, _, _ = self._webcam.frames(most_recent=True)
  
          # Colorize PhoXi Image
          phoxi_color_im = self._colorize(phoxi_depth_im, webcam_color_im)
          return phoxi_color_im, phoxi_depth_im, None
docs: Retrieve a new frame from the PhoXi and convert it to a ColorImage,
          a DepthImage, and an IrImage.
  
          Returns
          -------
          :obj:`tuple` of :obj:`ColorImage`, :obj:`DepthImage`, :obj:`IrImage`, :obj:`numpy.ndarray`
              The ColorImage, DepthImage, and IrImage of the current frame.