Assessing bridge conditions is critical, but field measurements often face challenges like sensor installation and accuracy requirements. This paper introduces a novel approach using structured light (SL) for non-target-based measurements, eliminating the need for physical markers. A tunable SL system, featuring four laser pointers aligned with a commercial camera, was developed to estimate the relative angle between the camera and the target structure, and to accurately calculate the scale factor. The proposed method involves three main processes: (1) laser alignment, (2) angle estimation, and (3) real-time displacement measurement. By precisely aligning the SL system and minimizing discrepancies between projected SL points and an ideal numerical model, the method achieves accurate results. Validation through numerical simulations, lab-scale tests, and full-scale bridge tests demonstrated a maximum error of 2.69% in scale and 2.53% in displacement, confirming the method’s effectiveness and applicability.