diff --git a/src/vstarstack/library/objects/features.py b/src/vstarstack/library/objects/features.py
index a5366dac..ebde642b 100644
--- a/src/vstarstack/library/objects/features.py
+++ b/src/vstarstack/library/objects/features.py
@@ -16,6 +16,8 @@
 import numpy as np
 
 import imutils
+import imutils.contours
+
 from skimage import measure
 import matplotlib.pyplot as plt
 
@@ -33,9 +35,11 @@ def get_subimage(image, num_splits):
             subimage = image[base_y:next_y, base_x:next_x]
             yield subimage, base_x, base_y
 
-def _find_keypoints_orb(image, base_x, base_y, detector):
+def _find_keypoints_orb(image : np.ndarray, base_x : int, base_y : int, detector):
     """Find keypoints with ORB detector"""
     cpts = []
+    if image.dtype != np.uint8:
+        image = (image * 255 / np.amax(image)).astype("uint8")
     points = detector.detect(image, mask=None)
     for point in points:
         pdesc = {
@@ -46,9 +50,9 @@ def _find_keypoints_orb(image, base_x, base_y, detector):
         cpts.append(pdesc)
     return cpts
 
-def find_keypoints_orb(image, num_splits):
+def find_keypoints_orb(image, num_splits, param):
     points = []
-    orb = cv2.ORB_create()
+    orb = cv2.ORB_create(patchSize=param["patchSize"])
     for subimage, bx, by in get_subimage(image, num_splits):
         points += _find_keypoints_orb(subimage, bx, by, orb)
     return points
@@ -108,7 +112,8 @@ def find_keypoints_brightness(image, num_splits, params):
     return points
 
 def describe_keypoints(image : np.ndarray,
-                       keypoints : list) -> list:
+                       keypoints : list,
+                       param : dict) -> list:
     """
     Build keypoints and calculate their descriptors
 
@@ -120,7 +125,7 @@ def describe_keypoints(image : np.ndarray,
 
     Return: list of keypoint and list of descriptors
     """
-    orb = cv2.ORB_create()
+    orb = cv2.ORB_create(patchSize=param["patchSize"])
     kps = [cv2.KeyPoint(point["x"], point["y"], point["size"]) for point in keypoints]
     image = np.clip(image / np.amax(image), 0, 1)*255
     image = image.astype('uint8')
diff --git a/src/vstarstack/tool/objects/config.py b/src/vstarstack/tool/objects/config.py
index ba5105d3..0ac7e221 100644
--- a/src/vstarstack/tool/objects/config.py
+++ b/src/vstarstack/tool/objects/config.py
@@ -30,10 +30,10 @@
         "max_diameter": (int, 40),
     }),
     "features" : ("module", {
-        "detector" : (str, "brightness"),
+        "path" : (str, "features/"),
         "num_splits" : (int, 4),
-        "max_feature_delta" : (int, 10),
-        "features_percent" : (int, 20),
+        "max_feature_delta" : (int, 20),
+        "features_percent" : (int, 100),
         "bright_spots": {
             "blurSize" : (int, 21),
             "k_thr" : (float, 1.15),
@@ -41,7 +41,9 @@
             "minPixel" : (int, 5),
             "maxPixel" : (int, 20),
         },
-        "orb" : {},
+        "orb" : {
+            "patchSize" : (int, 31),
+        },
     }),
 }
 
diff --git a/src/vstarstack/tool/objects/features.py b/src/vstarstack/tool/objects/features.py
deleted file mode 100644
index 46ce4ca3..00000000
--- a/src/vstarstack/tool/objects/features.py
+++ /dev/null
@@ -1,103 +0,0 @@
-#
-# Copyright (c) 2023 Vladislav Tsendrovskii
-#
-# This program is free software: you can redistribute it and/or modify
-# it under the terms of the GNU General Public License as published by
-# the Free Software Foundation, version 3 of the License.
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
-# See the GNU General Public License for more details.
-# You should have received a copy of the GNU General Public License
-# along with this program. If not, see <https://www.gnu.org/licenses/>.
-#
-
-import os
-import json
-import numpy as np
-
-import vstarstack.tool.common
-import vstarstack.tool.cfg
-import vstarstack.library.data
-from vstarstack.library.objects.features import find_keypoints_orb
-from vstarstack.library.objects.features import find_keypoints_brightness
-from vstarstack.library.objects.features import describe_keypoints
-from vstarstack.library.objects.features import build_clusters
-
-
-def find_keypoints(files, num_splits, detector_type, param):
-    points = {}
-    descs = {}
-    fnames = {}
-
-    for fname in files:
-        name = os.path.splitext(os.path.basename(fname))[0]
-        #print(name)
-        fnames[name] = fname
-        dataframe = vstarstack.library.data.DataFrame.load(fname)
-        for channel in dataframe.get_channels():
-            image, opts = dataframe.get_channel(channel)
-            if not opts["brightness"]:
-                continue
-            if channel not in points:
-                points[channel] = {}
-                descs[channel] = {}
-
-            if detector_type == "orb":
-                keypoints = find_keypoints_orb(image, num_splits)
-            elif detector_type == "brightness":
-                keypoints = find_keypoints_brightness(image, num_splits, param)
-            else:
-                raise Exception(f"Invalid detector {detector_type}")
-
-            ds = describe_keypoints(image, keypoints)
-            points[channel][name] = keypoints
-            descs[channel][name] = ds
-
-    return points, descs, fnames
-
-def run(project: vstarstack.tool.cfg.Project, argv: list[str]):
-    if len(argv) >= 2:
-        inputs = argv[0]
-        clusters_fname = argv[1]
-    else:
-        inputs = project.config.paths.npy_fixed
-        clusters_fname = project.config.cluster.path
-
-    detector_type = project.config.objects.features.detector
-    num_splits = project.config.objects.features.num_splits
-    max_feature_delta = project.config.objects.features.max_feature_delta
-    features_percent = project.config.objects.features.features_percent / 100
-
-    if detector_type == "orb":
-        param = None
-        print("Using ORB detector")
-    elif detector_type == "brightness":
-        param = {
-            "blur_size" : project.config.objects.features.bright_spots.blurSize,
-            "k_thr" : project.config.objects.features.bright_spots.k_thr,
-            "min_value" : project.config.objects.features.bright_spots.minValue,
-            "min_pixel" : project.config.objects.features.bright_spots.minPixel,
-            "max_pixel" : project.config.objects.features.bright_spots.maxPixel,
-        }
-        print("Using brightness detector")
-
-    files = vstarstack.tool.common.listfiles(inputs, ".zip")
-    files = [filename for _, filename in files]
-    points, descs, _ = find_keypoints(files, num_splits, detector_type, param)
-    print("Found keypoints")
-
-    total_clusters = []
-    for channel in points:
-        print(f"\tBuild clusters for {channel} channel")
-        crd_clusters = build_clusters(points[channel],
-                                      descs[channel],
-                                      max_feature_delta,
-                                      features_percent)
-
-        total_clusters += crd_clusters
-
-    print("Builded clusters")
-    vstarstack.tool.common.check_dir_exists(clusters_fname)
-    with open(clusters_fname, "w") as f:
-        json.dump(total_clusters, f, indent=4, ensure_ascii=False)
diff --git a/src/vstarstack/tool/objects/find_features.py b/src/vstarstack/tool/objects/find_features.py
new file mode 100644
index 00000000..faeb783a
--- /dev/null
+++ b/src/vstarstack/tool/objects/find_features.py
@@ -0,0 +1,128 @@
+#
+# Copyright (c) 2023-2024 Vladislav Tsendrovskii
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, version 3 of the License.
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the GNU General Public License for more details.
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see <https://www.gnu.org/licenses/>.
+#
+
+import os
+import json
+
+import vstarstack.tool.common
+import vstarstack.tool.cfg
+import vstarstack.library.data
+import vstarstack.library.common
+from vstarstack.library.objects.features import find_keypoints_orb
+from vstarstack.library.objects.features import find_keypoints_brightness
+from vstarstack.library.objects.features import describe_keypoints
+
+def build_keypoints_structure(keypoints, ds, fname, name):
+    record = {
+        "fname" : fname,
+        "name" : name,
+        "points" : [],
+    }
+
+    for keypoint, desc in zip(keypoints, ds):
+        for di in desc:
+            if di != 0:
+                break
+        else:
+            continue
+        record["points"].append({
+            "keypoint" : keypoint,
+            "descriptor" : [int(item) for item in list(desc)],
+        })
+
+    return record
+
+def proj_find_keypoints_orb(files, num_splits, param):
+    points = {}
+
+    for fname in files:
+        name = os.path.splitext(os.path.basename(fname))[0]
+        dataframe = vstarstack.library.data.DataFrame.load(fname)
+        gray, _ = vstarstack.library.common.df_to_light(dataframe)
+
+        keypoints = find_keypoints_orb(gray, num_splits, param)
+        ds = describe_keypoints(gray, keypoints, param)
+        points[name] = build_keypoints_structure(keypoints, ds, fname, name)
+
+    return points
+
+def proj_find_keypoints_brightness(files, num_splits, param, orb_param):
+    points = {}
+
+    for fname in files:
+        name = os.path.splitext(os.path.basename(fname))[0]
+        dataframe = vstarstack.library.data.DataFrame.load(fname)
+        gray, _ = vstarstack.library.common.df_to_light(dataframe)
+
+        keypoints = find_keypoints_brightness(gray, num_splits, param)
+        ds = describe_keypoints(gray, keypoints, orb_param)
+        points[name] = build_keypoints_structure(keypoints, ds, fname, name)
+
+    return points
+
+def save_features(points, features_path):
+    for name in points:
+        record = points[name]
+        with open(os.path.join(features_path, f"{name}_keypoints.json"), "w") as f:
+            json.dump(record, f, indent=4, ensure_ascii=False)
+
+def find_points_orb(project: vstarstack.tool.cfg.Project, argv: list[str]):
+    if len(argv) >= 2:
+        inputs = argv[0]
+        features = argv[1]
+    else:
+        inputs = project.config.paths.npy_fixed
+        features = project.config.objects.features.path
+
+    num_splits = project.config.objects.features.num_splits
+    param = {
+        "patchSize" : project.config.objects.features.orb.patchSize
+    }
+
+    files = vstarstack.tool.common.listfiles(inputs, ".zip")
+    files = [filename for _, filename in files]
+    points = proj_find_keypoints_orb(files, num_splits, param)
+    save_features(points, features)
+
+def find_points_brightness(project: vstarstack.tool.cfg.Project, argv: list[str]):
+    if len(argv) >= 2:
+        inputs = argv[0]
+        features = argv[1]
+    else:
+        inputs = project.config.paths.npy_fixed
+        features = project.config.objects.features.path
+
+    num_splits = project.config.objects.features.num_splits
+
+    orb_param = {
+        "patchSize" : project.config.objects.features.orb.patchSize
+    }
+
+    param = {
+            "blur_size" : project.config.objects.features.bright_spots.blurSize,
+            "k_thr" : project.config.objects.features.bright_spots.k_thr,
+            "min_value" : project.config.objects.features.bright_spots.minValue,
+            "min_pixel" : project.config.objects.features.bright_spots.minPixel,
+            "max_pixel" : project.config.objects.features.bright_spots.maxPixel,
+        }
+
+    files = vstarstack.tool.common.listfiles(inputs, ".zip")
+    files = [filename for _, filename in files]
+    points = proj_find_keypoints_brightness(files, num_splits, param, orb_param)
+    save_features(points, features)
+
+commands = {
+    "brightness": (find_points_brightness, "find keypoints with brightness detector", "npys/ features/"),
+    "orb": (find_points_orb, "find keypoints with ORB detector", "npys/ features/")
+}
diff --git a/src/vstarstack/tool/objects/match_features.py b/src/vstarstack/tool/objects/match_features.py
new file mode 100644
index 00000000..c4a7154d
--- /dev/null
+++ b/src/vstarstack/tool/objects/match_features.py
@@ -0,0 +1,63 @@
+#
+# Copyright (c) 2023-2024 Vladislav Tsendrovskii
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, version 3 of the License.
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the GNU General Public License for more details.
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see <https://www.gnu.org/licenses/>.
+#
+
+import math
+import json
+import numpy as np
+
+import vstarstack.tool.common
+import vstarstack.tool.cfg
+import vstarstack.library.data
+from vstarstack.library.objects.features import build_clusters
+
+def load_keypoints(files):
+    points = {}
+    for file in files:
+        with open(file) as f:
+            record = json.load(f)
+            name = record["name"]
+            points[name] = record
+    return points
+
+def run(project: vstarstack.tool.cfg.Project, argv: list[str]):
+    if len(argv) >= 2:
+        points_path = argv[0]
+        clusters_fname = argv[1]
+    else:
+        points_path = project.config.paths.npy_fixed
+        clusters_fname = project.config.cluster.path
+
+    max_feature_delta = project.config.objects.features.max_feature_delta
+    features_percent = project.config.objects.features.features_percent / 100.0
+
+    files = vstarstack.tool.common.listfiles(points_path, ".json")
+    files = [filename for _, filename in files]
+    keypoints = load_keypoints(files)
+    print("Found keypoints")
+
+    points = {}
+    descs = {}
+
+    for name in keypoints:
+        points[name] = [item["keypoint"] for item in keypoints[name]["points"]]
+        descs[name] = np.array([np.array(item["descriptor"], dtype=np.uint8) for item in keypoints[name]["points"]])
+
+    clusters = build_clusters(points, descs,
+                              max_feature_delta,
+                              features_percent)
+
+    print("Builded clusters")
+    vstarstack.tool.common.check_dir_exists(clusters_fname)
+    with open(clusters_fname, "w") as f:
+        json.dump(clusters, f, indent=4, ensure_ascii=False)
diff --git a/src/vstarstack/tool/objects/objects.py b/src/vstarstack/tool/objects/objects.py
index 623ae1c0..71f8aba6 100644
--- a/src/vstarstack/tool/objects/objects.py
+++ b/src/vstarstack/tool/objects/objects.py
@@ -1,5 +1,5 @@
 #
-# Copyright (c) 2022 Vladislav Tsendrovskii
+# Copyright (c) 2022-2024 Vladislav Tsendrovskii
 #
 # This program is free software: you can redistribute it and/or modify
 # it under the terms of the GNU General Public License as published by
@@ -17,7 +17,8 @@
 
 import vstarstack.tool.objects.cut
 import vstarstack.tool.objects.config
-import vstarstack.tool.objects.features
+import vstarstack.tool.objects.find_features
+import vstarstack.tool.objects.match_features
 
 def _enable_objects(project : vstarstack.tool.cfg.Project, _argv: list[str]):
     project.config.enable_module("objects")
@@ -26,6 +27,7 @@ def _enable_objects(project : vstarstack.tool.cfg.Project, _argv: list[str]):
 commands = {
     "config": (_enable_objects, "configure compact_objects pipeline"),
     "detect": ("vstarstack.tool.objects.detect", "detect compact objects"),
-    "features": (vstarstack.tool.objects.features.run, "detect and match image features"),
+    "find-features": (vstarstack.tool.objects.find_features.commands, "detect image features"),
+    "match-features": (vstarstack.tool.objects.match_features.run, "match image features"),
     "cut": (vstarstack.tool.objects.cut.run, "cut compact objects"),
 }