Please see the documentation for voxl-camera-server here: https://docs.modalai.com/voxl-camera-server/

There are many examples in our SDK code base of how to consume that data. Here is a good place to look for each of our services: https://gitlab.com/voxl-public/voxl-sdk/services

Here is some exact code here: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-qvio-server/-/blob/master/server/main.cpp#L474

And another example here: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-tflite-server/-/blob/master/src/main.cpp#L208