How to specify explicit stream requests during Multicam Usage

[mshong0320]

Hi,

I'm trying to use multi-camera set up of tracking and d435.
Been following the example tutorial on multicam setup but there is no information on how I can specify an explicit stream request for each rs camera.

I am currently using the following code:
// Capture serial numbers before opening streaming
std::vectorstd::string serials;
for (auto&& dev : ctx.query_devices())
serials.push_back(dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));

// Start a streaming pipe per each connected device
for (auto&& serial : serials)
{
    rs2::pipeline pipe(ctx);
    rs2::config cfg;
    cfg.enable_device(serial);
    pipe.start(cfg);
    pipelines.emplace_back(pipe);
    // Map from each device's serial number to a different colorizer
    colorizers[serial] = rs2::colorizer();
}

How should I add the following stream request just for my D435 pipeline?
cfg.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_RGB8, 30);
cfg.enable_stream(RS2_STREAM_DEPTH, 640, 480, RS2_FORMAT_Z16, 30);

Thank you.

BR,

[MartyG-RealSense]

Hi @mshong0320 I recall that in a past case - #1735 (comment) - a RealSense user with two cameras took the approach of manually defining two separate pipelines, each with their own config_1 and config_2 configurations and manually provided serial numbers for the two cameras. This is in contrast to the rs-multicam approach where pipelines for each attached camera are created automatically and their serial numbers auto-detected.

The code in the linked script is in Python rather than C++ but can act as a general guide for structuring a C++ equivalent.

[MartyG-RealSense]

Hi @mshong0320 Do you require further assistance with this case, please? Thanks!

[MartyG-RealSense]

Case closed due to no further comments received.