The production process of Micro-camera module includes plate washing, plate drying, glue painting, crystal pasting, bonding, glue baking, detection, etc. The glue painting is an important step and its quality has an important effect on the mounting performance of the Micro-camera module. Three-dimensional measurement is the key technology to ensure its mounting quality, and usually, the quick glue painting process needs the accuracy and agile detected method. To meet the real-time measurement requirements of glue surface in the mounting process of Micro-camera module, the height information mapping model of the detected glue surface is established based on monocular vision imaging system, and a three-dimensional measurement method of glue surface is proposed in this manuscript. The proposed method can be divided into following three steps. Firstly, by analyzing the influencing factors of visible light focusing imaging system and describing the image features based on the mentioned monocular vision system, the imaging model is built, which reveals the influence rule of light source intensity, object surface inclination, diffuse reflection coefficient and reflected light deflection angle on image gray value in such imaging model. Secondly, the mapping model of the surface height information of the detected object is established, and the height calculating equations of the visual surface are derived based on the proposed mapping model. Especially, the proposed equations only contain two un-knowns variables, and the three-dimensional information of the detected surface is obtained by solving the equations.Furthermore, because of the proposed one-to-one mapping model, the theoretical analysis results show that the proposed method can avoid the solution uncertainty problem arising from Shape-from-shading method (SFS method) and the matching problem arising from binocular vision method. Finally, the validity of the proposed method was verified by the glue measurement experiment. In this process, three different detected methods are compared with the same testing condition. Experimental results showed that the proposed method can recover the three-dimensional morphology of the glue surface, and its average height measurement error is less than ±10 μm with the single image detection speed of less than 0.2 s, which verifies the effectiveness and real-time performance of the proposed method.