Yes. 

When properly configured, Teams users can initiate calls directly to the intercom device (audio or video). They can do this from any desktop computer or the Teams app on any compatible device. 

Two-way audio communication is always supported in all configurations. 

One-way video is supported as standard. Two-way video can be enabled as an option. This is done in CyberGate, as long as the intercom and the Teams endpoint support it.