Aiming at the common problems of incomplete algorithms and complex implementation in structured light 3D measurement systems based on embedded platforms, a monocular surface structured light 3D measurement system based on ZYNQ was designed. This system combines FPGA and ARM processors, utilizing Vitis HLS technology to achieve high-speed decoding and reconstruction based on complementary Gray code combined with phase-shifting algorithms. First, an FPGA image acquisition module was designed, and the structured light images were preprocessed through grayscale conversion and median filtering. Subsequently, Vitis HLS was used to implement structured light image binarization, phase calculation, and 3D point cloud solving. Finally, a control program for the CMOS camera and image processing was developed based on the ARM processor, enabling system module control and flexible system parameter calibration, with a reprojection error as low as 0.092 1 pixels. Experimental results show that the system exhibits high robustness for complex object surfaces, with a root mean square error of diameter fitting for standard sphere measurements as low as 0.103 7 mm. The decoding and reconstruction time is only 112.67 ms, approaching 31.5 times the speed of a CPU and comparable to an integrated GPU, while the power consumption of the ZYNQ platform is only 2.696 W, verifying the feasibility and effectiveness of the system.