A method and system for accurately visualizing and measuring endoscopic images includes mapping a three-dimensional structure to a two-dimensional area, based on a plurality of endoscopic images of the structure. The method involves outlining the boundary of the region of interest in each image prior to performing a transformation into a planar image. The planar images are then stacked to form a complete planar image of the 3-D region of interest. A measurement of the area can then be performed on the enclosed outlined boundary.