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The third and fourth data sets (X1, Y1) indicate the coordinate information of the first point on the line.
The first point is at the bottom of the FOV, which is the point closest to the robot.
The fifth data set θ1: Tangent angle of the first point. When the tangent angle is 0, it means that the angle between the tangent and
the vertical direction of this point is 90 degrees; when the tangent angle is 90, it proves that the line that this point is very curved.
The sixth data set C1: The curvature of the first point. C=k/R. The value ranges from 0 to 10. 0 indicates that the line is a straight
line and the radian increases correspondingly as the value increases from 1 to 10. When the circumscribed circle is larger, it proves
that the radian of the line near this point is larger.
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