Based on this article I can get all incoming packets.

/* Callback function invoked by libpcap for every incoming packet */
void packet_handler(u_char *param, const struct pcap_pkthdr *header, const u_char *pkt_data)
{
    struct tm *ltime;
    char timestr[16];
    ip_header *ih;
    udp_header *uh;
    u_int ip_len;
    u_short sport,dport;
    time_t local_tv_sec;

    /* convert the timestamp to readable format */
    local_tv_sec = header->ts.tv_sec;
    ltime=localtime(&local_tv_sec);
    strftime( timestr, sizeof timestr, "%H:%M:%S", ltime);

    /* print timestamp and length of the packet */
    printf("%s.%.6d len:%d ", timestr, header->ts.tv_usec, header->len);

    /* retireve the position of the ip header */
    ih = (ip_header *) (pkt_data +
        14); //length of ethernet header

    /* retireve the position of the udp header */
    ip_len = (ih->ver_ihl & 0xf) * 4;
    uh = (udp_header *) ((u_char*)ih + ip_len);

    /* convert from network byte order to host byte order */
    sport = ntohs( uh->sport );
    dport = ntohs( uh->dport );

    /* print ip addresses and udp ports */
    printf("%d.%d.%d.%d.%d -> %d.%d.%d.%d.%d\n",
        ih->saddr.byte1,
        ih->saddr.byte2,
        ih->saddr.byte3,
        ih->saddr.byte4,
        sport,
        ih->daddr.byte1,
        ih->daddr.byte2,
        ih->daddr.byte3,
        ih->daddr.byte4,
        dport);
}

But how do I extract URI information in packet_handler?