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I want to develop the iOPAL (open source) application to enable video support (H.264, VP8). I have tested the application for audio calls (G.711) and it works perfect. The OPAL framework is based on plugins (dynamic libraries) for the video codecs which is not supported in app store. I think we should change them statically in order to be accepted by apple guys. We are also open to any proposal in order to make SIP/H323 audio/video calls from iOS/iPad using most common audio/video codecs.
The iOPAL application can be found in the opal branch and also modified branch https://github.com/snikulov/opal/tree/master/samples/iOPAL