[Update July 8th 2017] Surprise surprise! WhatsApp added filters for photos!
Just noticed I can access the camera from the main page in the latest WhatsApp update. I guess there are more people using WhatsApp to send pictures.
After taking a picture, the segue (/intent) transitions to the WhatsApp contact list. Select the contact and the picture is sent.
A copy of the picture resides in the image gallery.