In your AndroidManifest.xml
for the Activity
that you want to open (from whatsapp) add the following intent filters:
<intent-filter>
<action android:name="android.intent.action.GET_CONTENT" />
<category android:name="android.intent.category.OPENABLE" />
<category android:name="android.intent.category.DEFAULT" />
<data android:mimeType="image/*" />
<data android:mimeType="video/*" />
</intent-filter>
<intent-filter>
<action android:name="android.intent.action.PICK" />
<category android:name="android.intent.category.DEFAULT" />
<data android:mimeType="image/*" />
<data android:mimeType="video/*" />
</intent-filter>
Your applications should now display in the whatsapp gallery list,