If the pipe is on top of the ground and straight, I'd just use a setup that allowed you to push/pull the cam in the pipe via rod/pipe sections. Make a light circular frame with soft supporting pads to support the cam, and mount the cam on a rotating circular disk with the lens close to the pipe surface. push the cam thru the pipe, rotating it via the push pipe. I've used 1" 10' pvc pipe to break up clogs in sewer lines. I connected the pipe sections by glueing a coupling to one pipe end, and the sticking another pipe end into the coupling with a bolt hole thru that end of the coupling/pipe for a connecting pipe. the area was confined, so the long pipe needed to be lengthened one section at a time, and then disassembled as it was pulled out of the sewer pipe.