IMAGE FORMATION FLOW

flowchart TD
A["`trasformation of point
from WRF to CRF
according to the extrinsic
parameters`"]
B["`canonical perspective
projection`"]
C["`non linear mapping
for lens distortion effect `"]
D["`trasformation according
to the intrinsic
parameters
of the camera`"]
A --> B
B --> C
C --> D

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