Had a dig/pit at work that was a bit big and complicated, so I sprayed tree marks and measured them with gnss. I then took a lot of photos with my phone which I later on processed in WebODM. With orb I got some popcorn, it really looked like a bunch of popcorn. Then I tried sift that took a looong time but the result was good.
So ORB can’t handle to complex angles, it does seem that way.