Which MP4 specification defines the ES_Descriptor bit layout?

Question

In ISO 14496-14 section 5.6.1 they define an ESDSBox which contains an ES_Descriptor. Section 3.1.2 references some fields of the ES_Descriptor, but I have yet to figure out where the bit layout of the structure is defined.

Which document and section defines the layout of the ES_Descriptor ?

Answer 1

It is in ISO/IEC 14496-1, section 7.2.6.5.