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Something like this should work :

int main()
{

//initialize and allocate memory to load the video stream from camera 
cv::VideoCapture camera0(2);
cv::VideoCapture camera1(1);

if( !camera0.isOpened() ) return 1;
if( !camera1.isOpened() ) return 1;
int nbImage=0;
while(true) {
    //grab and retrieve each frames of the video sequentially 
    cv::Mat frame0;
    camera0 >> frame0;
    cv::Mat frame1;
    camera1 >> frame1;

    cv::imshow("Video0", frame0);
    cv::imshow("Video1", frame1);

    //wait for 40 milliseconds
    int c = cvWaitKey(40);
    if ((static_cast<char>(c)=='s')
   {
       imwrite(format("image0_%d.jpg",nbImage),frame0);
       imwrite(format("image1_%d.jpg",nbImage++),frame1);
   }
    //exit the loop if user press "Esc" key  (ASCII value of "Esc" is 27) 
    if(27 == char(c)) break;
}

platform and os opencv_version ?