Finally I had to hack into the ffmpeg library like this:
// Patch for retrieving inner ffmpeg private data
RTSPState* rtsp_state = (RTSPState*) context->priv_data;
RTSPStream* rtsp_stream = rtsp_state->rtsp_streams[0];
RTPDemuxContext* rtp_demux_context = (RTPDemuxContext*) rtsp_stream->transport_priv;
// Decode the NTP time from the 64 bit structure
uint64_t ntp_time = rtp_demux_context->last_rtcp_reception_time;
uint32_t seconds = (uint32_t) ((ntp_time >> 32) & 0xffffffff);
uint32_t fraction = (uint32_t) (ntp_time & 0xffffffff);
double useconds = ((double) fraction / 0xffffffff);
And I finally get timestamp information.