Android : How to show call choice dialog when user press call button from native Phone app

Can you one known how i can give user choice that which app is applicable to handle outgoing call like example skype,CSipSimple and Viber etc .

And also how i can show my own app in that dialog as well so i can place call from my android app as well.

I known this SO answer but still need to known how i can achieve to show App Choose when user press call button.

Android: opening a choice popup for a call whenever a user calls.

Any help would be great help to head start.