A 3-D reconstruction method was introduced to apply color pseudo-random coded image from a projector. A color projecting template was designed based on the pseudo-random principle. Then, a modified color corner extraction method based on Harris corner testing was introduced, which applying quadric fitting to realize sub-pixel location of the corners. Therefore, the left and right images were decoded to pseudo-random array on the basis of the corner testing results. According to the window property, the matching between the left and right images was realized and the reconstruction of the scene could be obtained combined with the vision calibration. The surface of a cylinder was reconstructed. The result proved that the method introduced here had the advantage of high matching speed and high matching accuracy.