We present a technique called single-pixel imaging camera based on complementary detection and optimized encoded modulation (CSPI camera), which can significantly reduce the influence of the disturbance light to single-pixel imaging (SPI). The experiments demonstrates that when the probability of the value "1" for each binary encoded pattern is P=0.5, CSPI camera is still disturbance-free even if the intensity fluctuation of the disturbance light is much larger than the signal's intensity. The reconstruction results of both traditional SPI and differential SPI are also compared. This technique of CSPI camera can dramatically promote real application of single-pixel imaging Lidar.