Fig. 1. Schematic of DPMD

Fig. 2. Schematic of DPMD considering refraction

Fig. 3. Schematic of refraction by transparent layer

Fig. 4. Light path refracted by transparent layer

Fig. 5. Screen image used for refraction parameter calibration

Fig. 6. Multiple cameras used for observing same feature point

Fig. 7. Calculation model of refraction angle

Fig. 8. Structural diagram of experimental system

Fig. 9. Physical figures. (a) Concave mirror; (b) specular step

Fig. 10. Measured 3D shape of specular step

Fig. 11. Reconstruction error of concave mirror. (a) Before compensation; (b) after compensation