Hmm,
I am not too sure about this. Most atm's today just have a swipe pad. The card does not enter the machine. Also the security camera is usually a separate system.
When I worked at a bank(Years ago) If the machine took someone's card they always called immediately and showed up at the bank early the next day demanding their card.
Globally there must be plenty of ATMs without swipe pads - until you mentioned I didn't know they existed! (In the UK ATMs still require cards to be inserted. Over the past few years most of them seem to have that blue/green plastic thing that does something to improve security, but that's the only visible improvement).
I'm sure you're right about customers calling their bank, but... whenever an ATM has swallowed my card (admittedly not recently, and only twice) I've called the telephone number on the machine itself (obviously I won't be doing that again!) I'm sure that's true for most people, so they could be easily fooled - particularly if they're using a generic ATM, or an ATM belonging to a different bank (in the UK most bank customers can use other banks' ATMs).
I'm also not too sure how useful security cameras are - it would only take a minute for an adversary with their face masked to remove stolen cards. In the UK the area around the ATM would probably be covered in CCTV anyway, so the adversary would probably wait until it was dark, cover their face, etc.
