Video calls are becoming available seemingly at random. You won`t need an app update as long as you`re on one of the recent beta versions (people are reporting success on a few builds). If the person on the other end doesn`t have video calling enabled yet they`ll just get a voice call. You`ll still be able to see the video calling UI, though. The call log shows that as a video call, but tapping the video button just pulls up an error message (below).
When you have video calling, tapping the call button or contact card brings up a dialog with both voice and video as options. There may be a version of the app later that flips the switch on video calls automatically, but for now you`re at the mercy of the WhatsApp gods.
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