1. A method of building a three dimensional model of an underwater structure comprising: directing an acoustic sonar wave toward an underwater structure; receiving the acoustic sonar wave reflected from the underwater structure, obtaining 3D data points from the acoustic sonar wave reflected from the underwater structure, the data points are configured to provide a three-dimensional image of the underwater structure; generating an alignment model of the underwater structure from the data points obtained; directing another acoustic sonar wave toward an underwater structure and receiving another acoustic sonar wave reflected from the underwater structure, the another acoustic sonar wave is configured to be processed into a three dimensional image of the underwater structure; obtaining new 3D data points from the another response received, the new data points are configured to provide a three-dimensional image of the underwater structure; aligning a sample of the new data points obtained to the alignment model; and building a three dimensional model of the underwater structure with the new data points.