It cna be done with plumb-bobs, string and a ruler or measuring tape...but thats both hard, and unless you have a perfectly flat surface not super-precise in certain settings. I have the bennifit fo being able to lify my car up and do my own allignments to + or _ .01 degree, as most shops do. I would, unless you're very good at geometry(like dori and dave said) and have some time to waste and really dont want to spend the 60 dollars.
also, you have to get the SPECS you want before you can do anything

...good luck setting the rear camber without a lift, too....hehehe.-chet