PTS/DTS/CTS

if DTS == 0 {
    // for I and P frames
	packet.Timestamp = PTS (presentation time)
} else {
    // for B frames
    packet.Timestamp = DTS (decode time)
    CTS = PTS-DTS (composition time)
}

• MPEG-TS container uses PTS and optional DTS.
• MP4 container uses DTS and CTS
• RTP container uses PTS

MPEG-TS

FFmpeg:

• PMTID=4096
• H264: PESID=256, StreamType=27, StreamID=224
• H265: PESID=256, StreamType=36, StreamID=224
• AAC: PESID=257, StreamType=15, StreamID=192

Tapo:

• PMTID=18
• H264: PESID=68, StreamType=27, StreamID=224
• AAC: PESID=69, StreamType=144, StreamID=192

Useful links

• https://github.com/theREDspace/video-onboarding/blob/main/MPEGTS%20Knowledge.md
• https://en.wikipedia.org/wiki/MPEG_transport_stream
• https://en.wikipedia.org/wiki/Program-specific_information