Convert tcpdump (pcap) file to video file (MP4)

A video streams are recorded by tcpdump creating pcap files.
I would like to extract a video stream from the pcap file to a mp4 [eventually by ffmpeg].
There are 2 types of streams: UDP and TCP.
Target environment is Linux (Ubuntu).

Phase 1 : POC (Proof of concept)
Create Linux cli command (or bash script) that will extract a video stream.
The input pcap file is available, upon request.

Phase 2 : [future] make it a production solution
- co-exist recording and extraction
- Select start/end time from many pcap files
- extract all video streams
- handle error cases