diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index 2cbd7d33..6ff23d1b 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -20,6 +20,8 @@ jobs:
       with:
         go-version: ${{ matrix.go }}
 
+    - run: sudo apt install -y libavformat-dev libswscale-dev
+
     - run: make test-nodocker
 
     - if: matrix.go == '1.16'
diff --git a/Makefile b/Makefile
index 87e29beb..d4282286 100644
--- a/Makefile
+++ b/Makefile
@@ -39,7 +39,7 @@ format:
 
 define DOCKERFILE_TEST
 FROM $(BASE_IMAGE)
-RUN apk add --no-cache make docker-cli git gcc musl-dev
+RUN apk add --no-cache make docker-cli git gcc musl-dev pkgconfig ffmpeg-dev
 WORKDIR /s
 COPY go.mod go.sum ./
 RUN go mod download
diff --git a/README.md b/README.md
index 3be6380c..429856e0 100644
--- a/README.md
+++ b/README.md
@@ -54,6 +54,7 @@ Features:
 * [client-read-options](examples/client-read-options/main.go)
 * [client-read-pause](examples/client-read-pause/main.go)
 * [client-read-h264](examples/client-read-h264/main.go)
+* [client-read-h264-convert-to-jpeg](examples/client-read-h264-convert-to-jpeg/main.go)
 * [client-read-h264-save-to-disk](examples/client-read-h264-save-to-disk/main.go)
 * [client-read-aac](examples/client-read-aac/main.go)
 * [client-publish-h264](examples/client-publish-h264/main.go)
diff --git a/examples/client-read-h264-convert-to-jpeg/h264decoder.go b/examples/client-read-h264-convert-to-jpeg/h264decoder.go
new file mode 100644
index 00000000..f55bc7ee
--- /dev/null
+++ b/examples/client-read-h264-convert-to-jpeg/h264decoder.go
@@ -0,0 +1,144 @@
+package main
+
+import (
+	"fmt"
+	"image"
+	"unsafe"
+)
+
+// #cgo pkg-config: libavcodec libavutil libswscale
+// #include <libavcodec/avcodec.h>
+// #include <libavutil/imgutils.h>
+// #include <libswscale/swscale.h>
+import "C"
+
+func frameData(frame *C.AVFrame) **C.uint8_t {
+	return (**C.uint8_t)(unsafe.Pointer(&frame.data[0]))
+}
+
+func frameLineSize(frame *C.AVFrame) *C.int {
+	return (*C.int)(unsafe.Pointer(&frame.linesize[0]))
+}
+
+// h264Decoder is a wrapper around ffmpeg's H264 decoder.
+type h264Decoder struct {
+	codecCtx    *C.AVCodecContext
+	avPacket    C.AVPacket
+	srcFrame    *C.AVFrame
+	swsCtx      *C.struct_SwsContext
+	dstFrame    *C.AVFrame
+	dstFramePtr []uint8
+}
+
+// newH264Decoder allocates a new h264Decoder.
+func newH264Decoder() (*h264Decoder, error) {
+	codec := C.avcodec_find_decoder(C.AV_CODEC_ID_H264)
+	if codec == nil {
+		return nil, fmt.Errorf("avcodec_find_decoder() failed")
+	}
+
+	codecCtx := C.avcodec_alloc_context3(codec)
+	if codecCtx == nil {
+		return nil, fmt.Errorf("avcodec_alloc_context3() failed")
+	}
+
+	res := C.avcodec_open2(codecCtx, codec, nil)
+	if res < 0 {
+		C.avcodec_close(codecCtx)
+		return nil, fmt.Errorf("avcodec_open2() failed")
+	}
+
+	srcFrame := C.av_frame_alloc()
+	if srcFrame == nil {
+		C.avcodec_close(codecCtx)
+		return nil, fmt.Errorf("av_frame_alloc() failed")
+	}
+
+	avPacket := C.AVPacket{}
+	C.av_init_packet(&avPacket)
+
+	return &h264Decoder{
+		codecCtx: codecCtx,
+		srcFrame: srcFrame,
+		avPacket: avPacket,
+	}, nil
+}
+
+// close closes the decoder.
+func (d *h264Decoder) close() {
+	if d.dstFrame != nil {
+		C.av_frame_free(&d.dstFrame)
+	}
+
+	if d.swsCtx != nil {
+		C.sws_freeContext(d.swsCtx)
+	}
+
+	C.av_frame_free(&d.srcFrame)
+	C.avcodec_close(d.codecCtx)
+}
+
+func (d *h264Decoder) decode(nalu []byte) (image.Image, error) {
+	nalu = append([]uint8{0x00, 0x00, 0x00, 0x01}, []uint8(nalu)...)
+
+	// send frame to decoder
+	d.avPacket.data = (*C.uint8_t)(C.CBytes(nalu))
+	defer C.free(unsafe.Pointer(d.avPacket.data))
+	d.avPacket.size = C.int(len(nalu))
+	res := C.avcodec_send_packet(d.codecCtx, &d.avPacket)
+	if res < 0 {
+		return nil, nil
+	}
+
+	// receive frame if available
+	res = C.avcodec_receive_frame(d.codecCtx, d.srcFrame)
+	if res < 0 {
+		return nil, nil
+	}
+
+	// if frame size has changed, allocate needed objects
+	if d.dstFrame == nil || d.dstFrame.width != d.srcFrame.width || d.dstFrame.height != d.srcFrame.height {
+		if d.dstFrame != nil {
+			C.av_frame_free(&d.dstFrame)
+		}
+
+		if d.swsCtx != nil {
+			C.sws_freeContext(d.swsCtx)
+		}
+
+		d.swsCtx = C.sws_getContext(d.srcFrame.width, d.srcFrame.height, C.AV_PIX_FMT_YUV420P, // d.codecCtx.pix_fmt,
+			d.srcFrame.width, d.srcFrame.height, C.AV_PIX_FMT_RGBA, C.SWS_BILINEAR, nil, nil, nil)
+		if d.swsCtx == nil {
+			return nil, fmt.Errorf("sws_getContext() err")
+		}
+
+		d.dstFrame = C.av_frame_alloc()
+		d.dstFrame.format = C.AV_PIX_FMT_RGBA
+		d.dstFrame.width = d.srcFrame.width
+		d.dstFrame.height = d.srcFrame.height
+		d.dstFrame.color_range = C.AVCOL_RANGE_JPEG
+		res = C.av_frame_get_buffer(d.dstFrame, 32)
+		if res < 0 {
+			return nil, fmt.Errorf("av_frame_get_buffer() err")
+		}
+
+		dstFrameSize := C.av_image_get_buffer_size((int32)(d.dstFrame.format), d.dstFrame.width, d.dstFrame.height, 1)
+		d.dstFramePtr = (*[1 << 30]uint8)(unsafe.Pointer(d.dstFrame.data[0]))[:dstFrameSize:dstFrameSize]
+	}
+
+	// convert frame from YUV420 to RGB
+	res = C.sws_scale(d.swsCtx, frameData(d.srcFrame), frameLineSize(d.srcFrame),
+		0, d.codecCtx.height, frameData(d.dstFrame), frameLineSize(d.dstFrame))
+	if res < 0 {
+		return nil, fmt.Errorf("sws_scale() err")
+	}
+
+	// embed frame into an image.Image
+	return &image.RGBA{
+		Pix:    d.dstFramePtr,
+		Stride: 4 * (int)(d.dstFrame.width),
+		Rect: image.Rectangle{
+			Max: image.Point{(int)(d.dstFrame.width), (int)(d.dstFrame.height)},
+		},
+	}, nil
+}
diff --git a/examples/client-read-h264-convert-to-jpeg/main.go b/examples/client-read-h264-convert-to-jpeg/main.go
new file mode 100644
index 00000000..5718cca0
--- /dev/null
+++ b/examples/client-read-h264-convert-to-jpeg/main.go
@@ -0,0 +1,147 @@
+package main
+
+import (
+	"image"
+	"image/jpeg"
+	"log"
+	"os"
+	"strconv"
+	"time"
+
+	"github.com/aler9/gortsplib"
+	"github.com/aler9/gortsplib/pkg/base"
+	"github.com/aler9/gortsplib/pkg/rtph264"
+	"github.com/pion/rtp"
+)
+
+// This example shows how to
+// 1. connect to a RTSP server and read all tracks on a path
+// 2. check whether there's a H264 track
+// 3. decode the H264 track to raw frames
+// 4. encode the frames into JPEG images and save them on disk
+// This example requires the ffmpeg libraries, that can be installed in this way:
+// apt install -y libavformat-dev libswscale-dev gcc pkg-config
+
+func saveToFile(img image.Image) error {
+	// create file
+	fname := strconv.FormatInt(time.Now().UnixNano()/int64(time.Millisecond), 10) + ".jpg"
+	f, err := os.Create(fname)
+	if err != nil {
+		panic(err)
+	}
+	defer f.Close()
+
+	log.Println("saving", fname)
+
+	// convert to jpeg
+	return jpeg.Encode(f, img, &jpeg.Options{
+		Quality: 60,
+	})
+}
+
+func main() {
+	c := gortsplib.Client{}
+
+	// parse URL
+	u, err := base.ParseURL("rtsp://localhost:8554/mystream")
+	if err != nil {
+		panic(err)
+	}
+
+	// connect to the server
+	err = c.Start(u.Scheme, u.Host)
+	if err != nil {
+		panic(err)
+	}
+	defer c.Close()
+
+	// get available methods
+	_, err = c.Options(u)
+	if err != nil {
+		panic(err)
+	}
+
+	// find published tracks
+	tracks, baseURL, _, err := c.Describe(u)
+	if err != nil {
+		panic(err)
+	}
+
+	// find the H264 track
+	h264Track := func() int {
+		for i, track := range tracks {
+			if _, ok := track.(*gortsplib.TrackH264); ok {
+				return i
+			}
+		}
+		return -1
+	}()
+	if h264Track < 0 {
+		panic("H264 track not found")
+	}
+
+	// setup RTP->H264 decoder
+	dec := rtph264.NewDecoder()
+
+	// setup H264->raw frames decoder
+	h264dec, err := newH264Decoder()
+	if err != nil {
+		panic(err)
+	}
+	defer h264dec.close()
+
+	// called when a RTP packet arrives
+	saveCount := 0
+	c.OnPacketRTP = func(trackID int, payload []byte) {
+		if trackID != h264Track {
+			return
+		}
+
+		// parse RTP packet
+		var pkt rtp.Packet
+		err := pkt.Unmarshal(payload)
+		if err != nil {
+			return
+		}
+
+		// decode H264 NALUs from RTP packet
+		nalus, _, err := dec.Decode(&pkt)
+		if err != nil {
+			return
+		}
+
+		// decode raw frames from H264 NALUs
+		for _, nalu := range nalus {
+			img, err := h264dec.decode(nalu)
+			if err != nil {
+				panic(err)
+			}
+
+			// wait for a frame
+			if img == nil {
+				continue
+			}
+
+			// convert frame to JPEG and save to file
+			err = saveToFile(img)
+			if err != nil {
+				panic(err)
+			}
+
+			saveCount++
+			if saveCount == 5 {
+				log.Printf("saved 5 images, exiting")
+				os.Exit(1)
+			}
+		}
+	}
+
+	// start reading tracks
+	err = c.SetupAndPlay(tracks, baseURL)
+	if err != nil {
+		panic(err)
+	}
+
+	// wait until a fatal error
+	panic(c.Wait())
+}