void HandDetector::calibrate ( cv::Mat & ROI )
Changes the HSV range accordingly with the input skin color image.
{
    //-- Convert from BGR to HSV
    cv::Mat HSV_ROI;
    cv::cvtColor( ROI, HSV_ROI, CV_BGR2HSV);

    //-- Split HSV ROI in channels:
    std::vector<cv::Mat> HSV_splitted;
    cv::split( HSV_ROI, HSV_splitted);

    //-- Calculate values:
    int hue_mean = median( HSV_splitted[0] );
    //int sat_mean = median( HSV_splitted[1] );
    //int val_mean = median( HSV_splitted[2] );

    int hue_sigma = stdDeviation( HSV_splitted[0] );
    //int sat_sigma = stdDeviation( HSV_splitted[1] );
    //int val_sigma = stdDeviation( HSV_splitted[2] );

    //-- Calculate limits
    int hue_lower_limit = hue_mean - hue_sigma_mult * hue_sigma / 2;
    //int sat_lower_limit = sat_mean - sat_sigma_mult * sat_sigma / 2;
    //int val_lower_limit = val_mean - val_sigma_mult * val_sigma / 2;

    int hue_upper_limit = hue_mean + hue_sigma_mult * hue_sigma / 2;
    //int sat_upper_limit = sat_mean + sat_sigma_mult * sat_sigma / 2;
    //int val_upper_limit = val_mean + val_sigma_mult * val_sigma / 2;

    //-- Check the limits of the values
    if ( hue_lower_limit < 0)
    {
        int aux = hue_lower_limit;
        hue_lower_limit = hue_upper_limit;
        hue_upper_limit = 180 - abs(aux);
        hue_invert = true;
    }
    else if ( hue_upper_limit > 179)
    {
        int aux = hue_upper_limit;
        hue_upper_limit = hue_lower_limit;
        hue_lower_limit = aux - 180;
        hue_invert = true;
    }
    else
        hue_invert = false;
/*
    if ( sat_lower_limit < 0) sat_lower_limit = 0;
    if ( val_lower_limit < 0) val_lower_limit = 0;
    if ( sat_upper_limit > 255 ) sat_upper_limit = 255;
    if ( val_lower_limit > 255 ) val_upper_limit = 255;
*/
    //-- Compose the values:
  //  lower_limit = cv::Scalar( hue_lower_limit, sat_lower_limit, val_lower_limit );
  //  upper_limit = cv::Scalar( hue_upper_limit, sat_upper_limit, val_upper_limit );

    lower_limit = cv::Scalar( hue_lower_limit, 58, 89  );
    upper_limit = cv::Scalar( hue_upper_limit, 173, 229 );

    std::cout << "[Debug] Lower limit is: " << lower_limit << std::endl;
    std::cout << "[Debug] Upper limit is: " << upper_limit << std::endl;
    std::cout << "[Debug] Inverting hue: " << hue_invert << std::endl;
}
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