The aim is to transfer raw binary data from one sip client to another using our Asterisk server. The problem is that sometimes it changes the data to unreadeable format (just raw binary data). Why it may be so?
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that is because SIP is not intended to do binary data transfer per RFC. SIP is a plaintext format and sending binary data is not compliant.
if you really need to use SIP for binary data transfer, you should use BASE64 to encode/decode your data when passing it through the SIP messaging.