Linphone
http://www.linphone.org/
Linphone is an open source (or free software) SIP Softphone, with support for several codecs.
It runs under Linux using a Gnome2 interface and under Windows.
Besides the graphical interface, a command line interface is available, called Linphonec.
It uses the GNU oSIP stack.
Since version 1.4.0 it has video support with H263-1998, MPEG4 and theora codecs.
If you want to use Linphone, please make sure that you are using ALSA sound drivers and not OSS.
Linphone should work with OSS, but most of the time you will get the most mysterious erors you have ever seen, and _if_ you hear sound, it will be slow and bad quality with OSS drivers. With ALSA sound drivers, sound quality and response is perfect.
VoIP Phones
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Linphone is excellent
Conrad
Testing sound quality
And for sound quality linphone is a clear winner. It even sounded clearly better than kphone when linphone were using the gsm codec and kphone ulaw or alaw.
Currently working URL