Are there any examples/documentation available that demonstrate how to use FFMPEG libraries directly in Python/C instead of the command line?

Question

I want to perform the operation done by the below command line of FFMPEG but only using the command line. Instead I want to use the underlying libraries directly in Python and C to perform the operation:

ffmpeg -i "Filename.ts" -map 0:d -c copy -f data "outputfile.bin" | python ./klvdata_test.py

The task at hand is to extract the metadata. Are there any examples/documentation demonstrating the use of underlying libraries of FFMPEG.