C # streaming video drone

I am currently a student and I have a project that requires the use of a drone and animal flow from its camera.

I managed to find a control program http://www.winardrone.com that can manage my 2.0 drive, but the problem is that the program doesn "t support my camera video streaming (TCP) method due to the program being more compatible with ar drone 1.0 (older drone version) which uses (UDP)

so I ran into the problem of placing the video stream in my program, there is a really simple solution to use ffmpeg player with cmd command "ffplay tcp: //192.168.1.1: 5555", but that means my program must run in multiple windows and I am not I can save frames with my analysis program

can anyone tell me how to stream video in TCP on my Visual Studio C # and capture frames at the same time?
just like the program in this video https://www.youtube.com/watch?v=4V5B-DPWdOQ

I want to get a video image in the program and not open a new window

And sorry for my bad grammar, thanks for your answer