code: def load_images(cfg):
      
      if 'prestored_data' in cfg.keys() and cfg['prestored_data'] == 1:
          sensor = VirtualKinect2Sensor(path_to_images=cfg['prestored_data_dir'], frame=cfg['sensor']['frame'])
      else:
          sensor = Kinect2Sensor(device_num=cfg['sensor']['device_num'], frame=cfg['sensor']['frame'],
                                 packet_pipeline_mode=cfg['sensor']['pipeline_mode'])
      sensor.start()
      ir_intrinsics = sensor.ir_intrinsics
  
      # get raw images
      colors = []
      depths = []
  
      for _ in range(cfg['num_images']):
          color, depth, _ = sensor.frames()
          colors.append(color)
          depths.append(depth)
  
      sensor.stop()
  
      return colors, depths, ir_intrinsics
docs: Helper function for loading a set of color images, depth images, and IR
      camera intrinsics.
  
      The config dictionary must have these keys:
          - prestored_data -- If 1, use the virtual sensor, else use a real sensor.
          - prestored_data_dir -- A path to the prestored data dir for a virtual sensor.
          - sensor/frame -- The frame of reference for the sensor.
          - sensor/device_num -- The device number for the real Kinect.
          - sensor/pipeline_mode -- The mode for the real Kinect's packet pipeline.
          - num_images -- The number of images to generate.
  
      Parameters
      ----------
      cfg : :obj:`dict`
          A config dictionary.
  
      Returns
      -------
      :obj:`tuple` of :obj:`list` of :obj:`ColorImage`, :obj:`list` of :obj:`DepthImage`, :obj:`CameraIntrinsics`
          A set of ColorImages and DepthImages, and the Kinect's CameraIntrinsics
          for its IR sensor.