Single-pixel cameras, characterized by low imaging costs and high detection sensitivity of single-pixel detectors in specialized bands, offer significant advantages in low-light conditions and special-band applications. These cameras hold promising prospects in fields like security monitoring, remote sensing, and medical imaging. This study proposes a co-aperture single-pixel imaging system capable of visible light full-color and near-infrared imaging. Utilizing the operational characteristics of the digital micromirror array, this design incorporates a symmetrical double optical path splitting structure to achieve a compact single-pixel imaging system with high energy efficiency. The integration of these components not only minimizes the system's volume but also enhances its stability and resistance to interference. Employing a standard Nikon lens, the system captures spectral and spatial information through four detectors, facilitating simultaneous full-color and near-infrared imaging. Experimental results confirm the system's capability to fulfill its intended functions and achieve the anticipated performance. This study marks a significant advancement in single-pixel imaging technology and establishes a foundation for its future industrial application.