public Emgu.CV.Matrix <double> GetMeasurement()
{
Emgu.CV.Matrix <double> measurementNoise = new Emgu.CV.Matrix <double>(3, 1);
measurementNoise.SetRandNormal(new MCvScalar(), new MCvScalar(Math.Sqrt(measurementNoise[0, 0])));
return(measurementMatrix * state + measurementNoise);
}