中文说明：在确定约束条件时将灰度约束和光滑约束与可积性约束分开，使得计算公式和求解过程更加 简单，同时加快了迭代收敛速度，并能有效地防止迭代的发散。
English Description：
When determining the constraint conditions, the gray constraint and smooth constraint are separated from the integrability constraint, which makes the calculation formula and solving process more convenient