1. A method for modelling an imaging device comprising an image sensor and an optical system, the image sensor being disposed in an image plane of the optical system, the optical system comprising an aperture iris diaphragm defining an entrance pupil of the optical system, the method comprising, for a given configuration of said imaging device:determining a set of characteristic intrinsic parameters of said imaging device, comprising:
a first intrinsic parameter representative of a distance between said image plane and a sensor conjugated plane conjugated to the image sensor with respect to the optical system;
a second intrinsic parameter representative of a distance between said sensor conjugated plane and the entrance pupil;
a third intrinsic parameter representative of a magnification of said optical system;
determining first modelling data as a function of said first and third intrinsic parameters;
determining second modelling data as a function of said second and third intrinsic parameters;
mapping at least a 3D point with associated at least an image point on said image sensor based on a model of the imaging device obtained as a function of said second and third modelling data.