def frames(self, skip_registration=False):
        """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.
        """
        color_im, depth_im, ir_im, _ = self._frames_and_index_map(skip_registration=skip_registration)
        return color_im, depth_im, ir_im