How to make microcontroller control from the screen on Android?

Question

Android

Guys poke your nose, please. The task is as follows: 2 servomotors with a laser and a camera are connected to the microcontroller. The camera transmits video via Wi-Fi to an android smartphone. I need the laser beam to hit the place where I touch the smartphone screen with my finger on the real-time video image.
In simple words, I want to do it like in the famous Petcube project
https://www.youtube.com/watch?v=RlFVx-grsqY
So far I have reached the level as in the video:
https://www.youtube.com/watch?v= PjoA6tSQG1E