An imaging apparatus, including a pattern projecting device that projects a pattern onto a wall of a body cavity, the pattern including at least a first section and a second section. The apparatus also includes an illumination device that directs an illumination light onto the wall of the body cavity and an imaging device that, while in a first orientation directed to the first section of the pattern projected onto the wall, acquires a first image of the first section, and while in a second orientation directed to the second section of the pattern projected onto the wall, acquires a second image of the second section. The apparatus further includes a processor controlling the pattern projecting device and the illumination device such that the imaging device acquires the first and the second images during the use of the illumination light, and stitching the first image to the second image.
