We provide a mathematical description of the imaging concept of the Spectrometer/Telescope for Imaging X-rays (STIX) onboard Solar Orbiter. Specifically, we describe the STIX indirect-imaging technique, which is based on spatial modulation of the X-ray photon flux by means of tungsten grids, and we show that each of 30 STIX imaging sub-collimators measures a Fourier component of the flaring X-ray source corresponding to a specific two-dimensional angular frequency. We also provide details about the count-distribution model, which describes the relationship between the photon flux and the measured pixel counts. The derived imaging model is the fundamental starting point both for the interpretation of STIX data and for the description of the data-calibration process. Finally, we provide an overview of the algorithms implemented for the solution of the imaging problem and a comparison of the results obtained with these different methods in the case of the SOL2022-03-31T18 flaring event.