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Touchable screen while using camera

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I'm really stuck, please help me or even just point me in the right direction...

I'm trying to write an application that would let me choose an object on the screen while using the camera.

I'll try to explain it in a more simple way:
I turn on the application, the camera live screen appears as if I was recording something. I use my finger and select 3 specific points on the screen (these would be small color paper squares I've prepared earlier). My choice is saved to the phone.
(I'll stop here because I think further explanation of what happens next is not important here).

I don't know how to create a program/code that would let me select those points on the screen. All I have now is a simple code that only turns on the camera and lets you record videos.

Please help.
 
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