Installing a netfilter hook that returns NF_QUEUE on certain packets will cause the kernel to find a nf_queue_handler and call it with the given packet. If no handler is installed tha packet is discarded. A handler can be registered with the nf_register_queue_handler(). (ip_queue module uses this for expose the packets to userspace.) After your queue handler is done, you are supposed to insert it back to the network stack by calling nf_reinject().
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