Surface mapping and visualizing ablation system

A visualization system comprising:

• an ablation catheter including:
• an expandable membrane,
• a camera disposed within the expandable membrane, the camera having a field of view, the camera orientated such that the camera field of view includes the expandable membrane when the expandable membrane is expanded, and
• a magnetic sensor with a fixed position and orientation relative to the camera, wherein the magnetic sensor is adapted such that the position and orientation of the magnetic sensor can be defined in a global frame of reference;
• a computer configured to:
• access a plurality of different 2D images captured by the camera of a patient's anatomy adjacent the expandable member, each of which visualizes at least one part of the patient's anatomy that is in contact with the expandable membrane,
• tag each 2D image of the plurality of different 2D images with information indicative of the position and orientation of the magnetic sensor when each 2D image of the plurality of different 2D images was captured, and
• create a patient map by placing each 2D image of the plurality of different 2D images at a corresponding tagged position and orientation into a 3D space;
• and
• a display configured to present the created patient map.