SURF feature detector in CSharp

using System;
using System.Collections.Generic;
using System.Windows.Forms;
using System.Drawing;
using Emgu.CV;
using Emgu.CV.UI;
using Emgu.CV.CvEnum;
using Emgu.CV.Structure;
 
namespace SURFFeatureExample
{
   static class Program
   {
      /// <summary>
      /// The main entry point for the application.
      /// </summary>
      [STAThread]
      static void Main()
      {
         Application.EnableVisualStyles();
         Application.SetCompatibleTextRenderingDefault(false);
         Run();
      }
 
      static void Run()
      {
         MCvSURFParams surfParam = new MCvSURFParams(500, false);
 
         Image<Gray, Byte> modelImage = new Image<Gray, byte>("box.png");
         //extract features from the object image
         SURFFeature[] modelFeatures = modelImage.ExtractSURF(ref surfParam);
 
         Image<Gray, Byte> observedImage = new Image<Gray, byte>("box_in_scene.png");
         // extract features from the observed image
         SURFFeature[] imageFeatures = observedImage.ExtractSURF(ref surfParam);
 
         //Create a SURF Tracker using k-d Tree
         SURFTracker tracker = new SURFTracker(modelFeatures);
         //Comment out above and uncomment below if you wish to use spill-tree instead
         //SURFTracker tracker = new SURFTracker(modelFeatures, 50, .7, .1);
 
         SURFTracker.MatchedSURFFeature[] matchedFeatures = tracker.MatchFeature(imageFeatures, 2, 20);
         matchedFeatures = SURFTracker.VoteForUniqueness(matchedFeatures, 0.8);
         matchedFeatures = SURFTracker.VoteForSizeAndOrientation(matchedFeatures, 1.5, 20);
         HomographyMatrix homography = SURFTracker.GetHomographyMatrixFromMatchedFeatures(matchedFeatures);
 
         //Merge the object image and the observed image into one image for display
         Image<Gray, Byte> res = modelImage.ConcateVertical(observedImage);
 
         #region draw lines between the matched features
         foreach (SURFTracker.MatchedSURFFeature matchedFeature in matchedFeatures)
         {
            PointF p = matchedFeature.ObservedFeature.Point.pt;
            p.Y += modelImage.Height;
            res.Draw(new LineSegment2DF(matchedFeature.ModelFeatures[0].Point.pt, p), new Gray(0), 1);
         }
         #endregion
 
         #region draw the project region on the image
         if (homography != null)
         {  //draw a rectangle along the projected model
            Rectangle rect = modelImage.ROI;
            PointF[] pts = new PointF[] { 
               new PointF(rect.Left, rect.Bottom),
               new PointF(rect.Right, rect.Bottom),
               new PointF(rect.Right, rect.Top),
               new PointF(rect.Left, rect.Top)};
            homography.ProjectPoints(pts);
 
            for (int i = 0; i < pts.Length; i++)
               pts[i].Y += modelImage.Height;
 
            res.DrawPolyline(Array.ConvertAll<PointF, Point>(pts, Point.Round), true, new Gray(255.0), 5);
         }
         #endregion
 
         ImageViewer.Show(res);
      }
   }
}