from functools import lru_cache

import yaml
from opensfm import context
from opensfm import io


@lru_cache(1)
def sensor_data():
    with io.open_rt(context.SENSOR_DATA) as f:
        data = io.json_load(f)

    # Convert model types to lower cases for easier query
    return {k.lower(): v for k, v in data.items()}


@lru_cache(1)
def camera_calibration():
    with io.open_rt(context.CAMERA_CALIBRATION) as f:
        data = yaml.safe_load(f)
    return data