Add modal and animations while calibration is running (#157)

* Add modal for calibration

* Run wpiformat

photon-server/src/main/java/org/photonvision/server/RequestHandler.java

@@ -162,6 +162,7 @@ public class RequestHandler {
     }
 
     public static void onCalibrationEnd(Context ctx) {
+        logger.info("Calibrating camera! This will take a long time...");
         var index = Integer.parseInt(ctx.body());
         var calData = VisionModuleManager.getInstance().getModule(index).endCalibration();
         if (calData == null) {
@@ -171,6 +172,7 @@ public class RequestHandler {
 
         ctx.result(String.valueOf(calData.standardDeviation));
         ctx.status(200);
+        logger.info("Camera calibrated!");
     }
 
     public static void restartDevice(Context ctx) {

photon-server/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java

@@ -60,6 +60,8 @@ public class Calibrate3dPipeline
 
     private int minSnapshots;
 
+    private boolean calibrating = false;
+
     public Calibrate3dPipeline() {
         this(25);
     }
@@ -89,6 +91,11 @@ public class Calibrate3dPipeline
         // Set the pipe parameters
         setPipeParams(frame.frameStaticProperties, settings);
 
+        if (this.calibrating) {
+            return new CVPipelineResult(
+                    0, null, new Frame(new CVMat(frame.image.getMat()), frame.frameStaticProperties));
+        }
+
         long sumPipeNanosElapsed = 0L;
 
         // Check if the frame has chessboard corners
@@ -131,10 +138,14 @@ public class Calibrate3dPipeline
             return null;
         }
 
+        this.calibrating = true;
+
         /*Pass the board corners to the pipe, which will check again to see if all boards are valid
         and returns the corresponding image and object points*/
         calibrationOutput = calibrate3dPipe.run(foundCornersList);
 
+        this.calibrating = false;
+
         return calibrationOutput.output;
     }