Is there any way to make call by just dialing a local IP address? Simply an IP to IP call. How can I do this? What changes should I make in pjsip code? I don't want to register in any server or VOIP provider. The call will happen only in local WiFi, just like SJPhone applications do in Mac (http://www.sjlabs.com/sjp.html).
You can happily make LAN-only calls with SIP - it is primarily a peer-to-peer protocol, after all.
It's a standard part of SIP, in other words.
It looks like pjsip already supports calling a SIP URI directly (as it should!) so you shouldn't need to adjust anything. Just place calls to sip:10.0.0.1
or sip:foo.home
or whatever you want to call.
(Nitpick: there's no such thing as "without SIP Server", because all SIP user agents act as both clients and servers. I presume you meant something like "without using SIP proxies or similar infrastructure".)