Update on this topic !
This pipeline works now, sometimes it crashes after 1-5min.

gst-launch-1.0 -v fdsrc do-timestamp=true blocksize=2000000 num-buffers=-1
! "image/jpeg,framerate=30/1,width=1280,height=720" ! jpegparse ! imxvpudec
! autovideosink
jpegparse helps here.
Now I want to save this stream into a file :-)

gst-launch-1.0 -v fdsrc do-timestamp=true blocksize=8000000
num-buffers=80000000 ! "image/jpeg,framerate=30/1" ! jpegparse ! imxvpudec
! imxvpuenc_h264 bitrate=4096 ! h264parse ! mp4mux ! filesink
location=video.mp4

Hmm, this doesn't work :-(
Any hint here ?
The error message is, that h264parse didn't detect a valid frame !

Peter
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