def load_images(cfg):
    """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.
    """
    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
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.