get a set of vernier calipers or best micrometer but vernier calipers will have more room to move: measure the run out. measure the lobe including entire cam. Take lobe measurement - run out (ie area where no lift) = lift of cam. this would be the published lift from toyota.
For a cam in a motor, you will have to try and get a set of calipers in there. Considering you have 8 lobes, you may get lucky or need to turn over the motor a little.