Robust is not stable for a pure horizontal line…
Must be something here loosing precision.
https://github.com/openmv/openmv/blob/master/src/omv/img/stats.c#L1070
…
I think it’s something to do with the atan2 as x gets close close to zero.
regular.mp4 (85.6 KB)
robust.mp4 (63.7 KB)