code: def frames(self, skip_registration=False):
          
          color_im, depth_im, ir_im, _ = self._frames_and_index_map(skip_registration=skip_registration)
          return color_im, depth_im, ir_im
docs: Retrieve a new frame from the Kinect and convert it to a ColorImage,
          a DepthImage, and an IrImage.
  
          Parameters
          ----------
          skip_registration : bool
              If True, the registration step is skipped.
  
          Returns
          -------
          :obj:`tuple` of :obj:`ColorImage`, :obj:`DepthImage`, :obj:`IrImage`, :obj:`numpy.ndarray`
              The ColorImage, DepthImage, and IrImage of the current frame.
  
          Raises
          ------
          RuntimeError
              If the Kinect stream is not running.