Abstract: Methods and systems for improved inspection, measurements, mapping, monitoring, and trending of underwater infrastructure that contains or are located in fluids, and/or that is difficult to access. The methods and systems include a housing containing a light source, a hollow core motor, a reflector, and a pressure tolerant window. The light source is disposed to pass output light along a path that passes through an axis of rotation of the hollow core motor to the reflector. The reflector rotates about the axis of rotation of the motor and operates to reflect the light at an angle to the rotation axis. In at least some embodiments, the light is passed through a full 360 degrees about the axis of rotation. The described methods and devices utilize one or more non-touch underwater optical system (including laser systems) for underwater equipment and infrastructure inspection, measurements, mapping, monitoring, trending, and maintenance.