take picture

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CameraHardware.java

@@ -0,0 +1,17 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.robotcore.hardware.HardwareMap;
+
+import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
+import org.firstinspires.ftc.teamcode.hardware.HardwareMapper;
+import org.firstinspires.ftc.teamcode.hardware.HardwareName;
+
+public class CameraHardware extends HardwareMapper {
+
+
+    @HardwareName("Webcam 1")
+    public WebcamName webcam;
+    public CameraHardware(HardwareMap map) {
+        super(map);
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Capture.java

@@ -0,0 +1,90 @@
+package org.firstinspires.ftc.teamcode;
+
+import android.graphics.Canvas;
+import android.os.Environment;
+import android.util.Log;
+import android.util.Size;
+
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.ExposureControl;
+import org.firstinspires.ftc.robotcore.internal.camera.calibration.CameraCalibration;
+import org.firstinspires.ftc.vision.VisionPortal;
+import org.firstinspires.ftc.vision.VisionProcessor;
+import org.opencv.core.Mat;
+import org.opencv.imgcodecs.Imgcodecs;
+
+import java.io.File;
+import java.util.concurrent.TimeUnit;
+
+@TeleOp
+public class Capture extends LinearOpMode {
+    private CaptureProcessor proc;
+
+    static class CaptureProcessor implements VisionProcessor {
+        public Mat latest;
+        public long frameNo = 0;
+
+        @Override
+        public void init(int width, int height, CameraCalibration calibration) {
+        }
+
+        @Override
+        public Object processFrame(Mat frame, long captureTimeNanos) {
+            frameNo++;
+            if (latest != null) latest.release();
+            latest = frame.clone();
+            return null;
+        }
+
+        @Override
+        public void onDrawFrame(Canvas canvas, int onscreenWidth, int onscreenHeight, float scaleBmpPxToCanvasPx, float scaleCanvasDensity, Object userContext) {
+        }
+    }
+
+    private void save(Mat m) {
+        int count = 0;
+        String pre = (Environment.getExternalStorageDirectory().toString());
+        String name = "capture" + count + ".png";
+        File f;
+        while ((f = new File(pre + "/" + name)).exists()) {
+            count++;
+            name = "capture" + count + ".png";
+        }
+        Log.i("Capture", "Saving to " + f.getAbsolutePath());
+        Imgcodecs.imwrite(f.getAbsolutePath(), m);
+    }
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+        CameraHardware hw = new CameraHardware(hardwareMap);
+        proc = new CaptureProcessor();
+        VisionPortal portal = new VisionPortal.Builder()
+                .setCamera(hw.webcam)
+                .setCameraResolution(new Size(1920, 1080))
+                .addProcessor(proc)
+                .build();
+        ExposureControl exposure = portal.getCameraControl(ExposureControl.class);
+        long micros = exposure.getMinExposure(TimeUnit.MICROSECONDS);
+        exposure.setExposure(micros, TimeUnit.MICROSECONDS);
+
+        boolean isAPressed = false;
+
+        while (opModeInInit()) {
+            if (gamepad1.a && !isAPressed) {
+                Log.i("Capture", "Saving");
+                // try to avoid getting deallocated while saving by cloning
+                Mat imm = proc.latest.clone();
+                save(imm);
+                imm.release();
+                Log.i("Capture", "Done");
+            }
+            telemetry.addData("Frame", proc.frameNo);
+            telemetry.addLine("(press A to save)");
+            telemetry.update();
+
+            isAPressed = gamepad1.a;
+        }
+    }
+}