I found that calabash-android is using this jar file to take screenshots.

screenshotTaker.jar

To take a screenshot:

• You need to install android sdk tools.
• Set ANDROID_HOME to the path of the installed sdk(or you can set it from the command line).
• Download screenshotTaker.jar.
• Turn on debug mode of your device and connect it to your machine through usb.
• Run the following command:

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java -jar screenshotTaker.jar <screenshot-filename.png> [device-args]

device-args will be forward to adb command, so you can specify the serial-no when you have multiple devices connected. For example:

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ANDROID_HOME=/DevTools/adt-bundle-mac-x86_64/sdk/ java -jar screenshotTaker.jar a.png -s 355659040404653