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); }