实现了图像的灰度化并进一步用于视频监视控，包括广义互相关函数GCC时延估计，利用最小二乘算法实现对三维平面的拟合。- Achieve a grayscale image and further control for video surveillance, Including the generalized cross-correlation function GCC time delay estimation, Least-squares algorithm to fit a three-dimensional plane.