Fig. 1. Reflection diagram of light

Fig. 2. Refraction diagram of light

Fig. 3. Vector expression diagram of law of reflection

Fig. 4. Vector expression diagram of law of refraction

Fig. 5. Refraction diagram of spherical surface

Fig. 6. Rotation diagram of 3D vector

Fig. 7. Rotation diagram of refracted light

Fig. 8. Optical path diagram of parallel error detection by Schmidt prism

Fig. 9. Flow chart of vector form algorithm

Fig. 10. Flow chart of matrix form algorithm

Fig. 11. Flow chart of quaternion form algorithm

Fig. 12. Diagram of actual detection results of parallel error of Schmidt prism

Fig. 13. Micro angle of single plane

Fig. 14. Flow chart of reflected light algorithm before prism exit