Demux TS and get access to PES data

I recently found libdvbpsi and have been attempting to use it as a transport stream demuxer.  I have looked through the limited documentation and also at the examples provided.  From these I have been able to successfully get access to the information in the PAT and PMT.  What I have not been able to figure out, however, is how to get access to a particular demuxed PES.

The TSs that I need to demux contain a video stream and a metadata stream.  The PID of each stream may change, so parsing the PAT and PMT is necessary so that I can find the relevant PIDs. That all seems to work well and has been well demonstrated in the examples.  Once I have the relevant PIDs, how do I then get access to the demuxed PES packets (without the TS headers, potentially without the PES headers as well, though I would still need access to the PTS and DTS)?  I have not been able to find any hints in the documentation or in the examples.  I do not need to have the contents of the PES packets decoded; I will use other libraries for that.

Can anyone provide any examples?  Thanks in advance for your help.

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