If you implement the onTouch method you will see that you get a MotionEvent, when the view is touched.
onTouch(View v, MotionEvent event) {...}
the MotionEvent gives you information about the touch position. You can get the raw pixel coordinates on the screen with
event.getRawX();
event.getRawY();
or the coordinates relative to the view with
event.getX();
event.getY();
take a look at the MotionEvent documentation to learn more about it.
After that you can get the drawing cache and get the pixel value of the position.
this.setDrawingCacheEnabled(true);
Bitmap bitmap = Bitmap.createBitmap(this.getDrawingCache());
this.setDrawingCacheEnabled(false);
int color = bitmap.getPixel(x, y);
Then you have to check if the color is transparent or not.