Add vision portal stream example

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

@@ -0,0 +1,68 @@
+package org.firstinspires.ftc.teamcode;
+
+import android.graphics.Bitmap;
+import android.graphics.Canvas;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+
+import org.firstinspires.ftc.robotcore.external.function.Consumer;
+import org.firstinspires.ftc.robotcore.external.function.Continuation;
+import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection;
+import org.firstinspires.ftc.robotcore.external.stream.CameraStreamSource;
+import org.firstinspires.ftc.robotcore.internal.camera.calibration.CameraCalibration;
+import org.firstinspires.ftc.vision.VisionPortal;
+import org.firstinspires.ftc.vision.VisionProcessor;
+import org.opencv.android.Utils;
+import org.opencv.core.Mat;
+
+import java.util.concurrent.atomic.AtomicReference;
+
+@Autonomous
+public class VisionPortalStreamingOpMode extends LinearOpMode {
+    public static class CameraStreamProcessor implements VisionProcessor, CameraStreamSource {
+        private final AtomicReference<Bitmap> lastFrame = new AtomicReference<>(Bitmap.createBitmap(1, 1, Bitmap.Config.RGB_565));
+
+        @Override
+        public void init(int width, int height, CameraCalibration calibration) {
+            lastFrame.set(Bitmap.createBitmap(width, height, Bitmap.Config.RGB_565));
+        }
+
+        @Override
+        public Object processFrame(Mat frame, long captureTimeNanos) {
+            Bitmap b = Bitmap.createBitmap(frame.width(), frame.height(), Bitmap.Config.RGB_565);
+            Utils.matToBitmap(frame, b);
+            lastFrame.set(b);
+            return null;
+        }
+
+        @Override
+        public void onDrawFrame(Canvas canvas, int onscreenWidth, int onscreenHeight, float scaleBmpPxToCanvasPx, float scaleCanvasDensity, Object userContext) {
+            // do nothing
+        }
+
+        @Override
+        public void getFrameBitmap(Continuation<? extends Consumer<Bitmap>> continuation) {
+            continuation.dispatch(bitmapConsumer -> bitmapConsumer.accept(lastFrame.get()));
+        }
+    }
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+        final CameraStreamProcessor processor = new CameraStreamProcessor();
+
+        new VisionPortal.Builder()
+                .addProcessor(processor)
+                .setCamera(BuiltinCameraDirection.BACK)
+                .build();
+
+        FtcDashboard.getInstance().startCameraStream(processor, 0);
+
+        waitForStart();
+
+        while (opModeIsActive()) {
+            sleep(100L);
+        }
+    }
+}