<uses-permission android:name="android.permission.CAMERA" />
    <uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE"/>
    <uses-permission android:name="android.permission.READ_EXTERNAL_STORAGE"/>

if(allPermissionsGranted()){
    Toast.makeText(MainActivity.this, "Granted", Toast.LENGTH_SHORT).show();
    startCamera(); //start camera if permission has been granted by user
} else{
    Toast.makeText(MainActivity.this, "Denied", Toast.LENGTH_SHORT).show();
    ActivityCompat.requestPermissions(this, REQUIRED_PERMISSIONS, REQUEST_CODE_PERMISSIONS);
}

private boolean allPermissionsGranted(){

    for(String permission : REQUIRED_PERMISSIONS){
        if(ContextCompat.checkSelfPermission(this, permission) != PackageManager.PERMISSION_GRANTED){
            return false;
        }
    }
    return true;
}

SimpleDateFormat mDateFormat = new SimpleDateFormat("yyyyMMddHHmmss", Locale.US);
File file = new File(getBatchDirectoryName(), mDateFormat.format(new Date())+ ".jpg");

public String getBatchDirectoryName() {

    String app_folder_path = "";
    app_folder_path = Environment.getExternalStorageDirectory() + "/images";
    File dir = new File(app_folder_path);
    if (!dir.exists() && !dir.mkdirs()) {
        Toast.makeText(MainActivity.this, "Trip", Toast.LENGTH_SHORT).show();
    }

    return app_folder_path;

W/System.err: androidx.camera.core.ImageCaptureException: Failed to write or close the file
W/System.err:     at androidx.camera.core.ImageCapture$3.onError(ImageCapture.java:669)
        at androidx.camera.core.ImageSaver.lambda$postError$1$ImageSaver(ImageSaver.java:263)
        at androidx.camera.core.-$$Lambda$ImageSaver$eAp-cZyzsEk-LVLazzLE-ezQzwo.run(Unknown Source:8)
        at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1167)
        at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:641)
W/System.err:     at java.lang.Thread.run(Thread.java:919)
W/System.err: Caused by: java.io.FileNotFoundException: /storage/emulated/0/images/20200730085024.jpg: open failed: ENOENT (No such file or directory)
        at libcore.io.IoBridge.open(IoBridge.java:496)
W/System.err:     at java.io.FileOutputStream.<init>(FileOutputStream.java:235)
        at java.io.FileOutputStream.<init>(FileOutputStream.java:186)
        at androidx.camera.core.ImageSaver.run(ImageSaver.java:97)
        ... 3 more
W/System.err: Caused by: android.system.ErrnoException: open failed: ENOENT (No such file or directory)
        at libcore.io.Linux.open(Native Method)
W/System.err:     at libcore.io.ForwardingOs.open(ForwardingOs.java:167)
        at libcore.io.BlockGuardOs.open(BlockGuardOs.java:252)
        at libcore.io.ForwardingOs.open(ForwardingOs.java:167)
        at android.app.ActivityThread$AndroidOs.open(ActivityThread.java:7255)
        at libcore.io.IoBridge.open(IoBridge.java:482)
        ... 6 more
D/EGL_emulation: eglMakeCurrent: 0xe09de0c0: ver 3 0 (tinfo 0xe0a8fb90)
W/example.camera: JNI critical lock held for 18.377ms on Thread[15,tid=8749,Runnable,Thread*=0xd531e600,peer=0x13c40348,"Binder:8690_3"]
W/example.camera: JNI critical lock held for 19.631ms on Thread[15,tid=8749,Runnable,Thread*=0xd531e600,peer=0x13c40348,"Binder:8690_3"]

file = new File(Environment.getExternalStorageDirectory()+"/"+UUID.randomUUID().toString()+".jpg");