The rapid measurement of end pose for six degree-of-freedom (DOF) electric servo swing roller forming equipment is the key to achieve the precise machining of equipment, and the pose measurement method based on a monocular vision camera is fast and effective. Therefore, the initial image of non-coplanar cooperative targets fixed to the end of equipment was captured by the monocular camera. Then, through image processing and target feature extraction, the two-dimensional image coordinates of the cooperative targets were obtained, and the transform of the pose solving problem into a PnP (Perspective-n-Point) problem was conducted. Furthermore, PnP problem was solved and transformed into coordinates by the orthogonal iteration algorithm, and the end pose of six DOF electric servo swing roller forming equipment was obtained ultimately. Finally, the precise measurement test of equipment was conducted. The results show that the average position error of the equipment end is 0.6413 mm, and the average angular error is 0.0379°, which verifies the effectiveness of the proposed method.