A system configured to generate a three-dimensional reconstruction image of an epicardial surface of a cardiac structure, the system comprising: a processing device configured to acquire anatomical data of the cardiac structure and generate a 3D model of the cardiac structure; a catheter inserted into an epicardium of the cardiac structure, the catheter comprising: an image sensor configured to capture a plurality of images of the epicardial surface of the cardiac structure and provide the plurality of images to the processing device, wherein the plurality of images include texture of the epicardial surface; at least one location sensor configured to generate, for each of the plurality images, corresponding location, orientation and distance information and provide the corresponding location, orientation and distance information to the processing device; the processing device further configured to generate a 3D texture map of the epicardial surface of the cardiac structure by stitching the plurality of images to the 3D model of the cardiac structure using the corresponding location, orientation and distance information; the processing device configured to provide the 3D texture map of the epicardial surface of the cardiac structure to a visual display device; and the visual display device configured to visually display the 3D texture map of the epicardial surface of the cardiac structure. a processing device configured to acquire anatomical data of the cardiac structure and generate a 3D model of the cardiac structure; a catheter inserted into an epicardium of the cardiac structure, the catheter comprising: an image sensor configured to capture a plurality of images of the epicardial surface of the cardiac structure and provide the plurality of images to the processing device, wherein the plurality of images include texture of the epicardial surface; at least one location sensor configured to generate, for each of the plurality images, corresponding location, orientation and distance information and provide the corresponding location, orientation and distance information to the processing device; the processing device further configured to generate a 3D texture map of the epicardial surface of the cardiac structure by stitching the plurality of images to the 3D model of the cardiac structure using the corresponding location, orientation and distance information; the processing device configured to provide the 3D texture map of the epicardial surface of the cardiac structure to a visual display device; and the visual display device configured to visually display the 3D texture map of the epicardial surface of the cardiac structure. an image sensor configured to capture a plurality of images of the epicardial surface of the cardiac structure and provide the plurality of images to the processing device, wherein the plurality of images include texture of the epicardial surface; at least one location sensor configured to generate, for each of the plurality images, corresponding location, orientation and distance information and provide the corresponding location, orientation and distance information to the processing device; the processing device further configured to generate a 3D texture map of the epicardial surface of the cardiac structure by stitching the plurality of images to the 3D model of the cardiac structure using the corresponding location, orientation and distance information; the processing device configured to provide the 3D texture map of the epicardial surface of the cardiac structure to a visual display device; and the visual display device configured to visually display the 3D texture map of the epicardial surface of the cardiac structure. the processing device further configured to generate a 3D texture map of the epicardial surface of the cardiac structure by stitching the plurality of images to the 3D model of the cardiac structure using the corresponding location, orientation and distance information; the processing device configured to provide the 3D texture map of the epicardial surface of the cardiac structure to a visual display device; and the visual display device configured to visually display the 3D texture map of the epicardial surface of the cardiac structure.