VertiCAM determines the verticality (pitch and roll) of a tubular structure during installation (pile, monopile, conductor, wind turbine foundation [WTF], pile, etc.). VertiCAM includes two LiDAR systems, two cameras, and inertial measurement units. VertiCAM analyzes point cloud data, imagery, and inertial data for in-air purposes, not subsea. The structure is detected in real-time by a LiDAR camera system at two different angles to determine the relative transformation. Then, the inertial data is processed to compute the absolute attitude of the structure.