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);
 }