import cv2
import numpy as np
import picamera
import picamera.array

lo=np.array([95, 100, 50])
hi=np.array([105, 255, 255])
color_infos=(0, 255, 255)
WIDTH=640
HEIGHT=480

with picamera.PiCamera() as camera:
    with picamera.array.PiRGBArray(camera) as stream:
        camera.resolution=(WIDTH, HEIGHT)
        while True:
            camera.capture(stream, 'bgr', use_video_port=True)
            image=cv2.cvtColor(stream.array, cv2.COLOR_BGR2HSV)
            mask=cv2.inRange(image, lo, hi)
            image=cv2.blur(image, (7, 7))
            mask=cv2.erode(mask, None, iterations=4)
            mask=cv2.dilate(mask, None, iterations=4)
            image2=cv2.bitwise_and(stream.array, stream.array, mask=mask)
            elements=cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[-2]
            if len(elements) > 0:
                c=max(elements, key=cv2.contourArea)
                ((x, y), rayon)=cv2.minEnclosingCircle(c)
                if rayon>30:
                    cv2.circle(image2, (int(x), int(y)), int(rayon), color_infos, 2)
                    cv2.circle(stream.array, (int(x), int(y)), 5, color_infos, 10)
                    cv2.line(stream.array, (int(x), int(y)), (int(x)+150, int(y)), color_infos, 2)
                    cv2.putText(stream.array, "Objet !!!", (int(x)+10, int(y) -10), cv2.FONT_HERSHEY_DUPLEX, 1, color_infos, 1, cv2.LINE_AA)
            cv2.imshow('Camera', stream.array)
            cv2.imshow('image2', image2)
            cv2.imshow('Mask', mask)
            if cv2.waitKey(1)&0xFF==ord('q'):
                break
            stream.seek(0)
            stream.truncate()                        
cv2.destroyAllWindows()