Welcome to Android Central! Remotely controlling the camera is not a native function of Android. As mentioned above, though, there are apps that may allow you to do so, but this probably doesn't help you, since you've already lost the phone.
Instead, go to google.com/android/devicemanager, and see if you can locate your phone. If the phone is still on, and if there is a wi-fi or mobile data connection, you should be able to locate the phone, and also send an instruction to wipe the whole phone. But if phone has been turned off, or if the network connection has stopped, or if it's been factory reset, you won't be able to use Device Manager to locate or wipe the phone.