There is provided a method for generating a 3D reconstruction of an internal surface of a hollow lumen, comprising: generating a light pattern having a code denoting angular positions projecting the light pattern onto an internal surface of a tubular lumen receiving reflections of the light pattern from the internal surface of the tubular lumen identifying angular positions of the light pattern based on the code and generating a 3D reconstruction of the internal surface from the received light pattern reflections based on the identified angular positions.
