Optical camera communication (OCC) is gaining increasing attention in researches. However, applying it to a real-world scenario may encounter many practical problems, such as the communication device may sway or there may be a position offset between the camera and the light source, which may distort the stripes and make the message unreceivable. To this end, we propose pilot-based stripe area estimation (P-SAE) decoding algorithm, and design a pixels rearrangement (PR) scheme and stripes separation logic decision method (SSLD) to improve the decoding performance under sway or receiving position offset. Finally, we build a practical OCC system and carry out experiments to verify the effectiveness of the decoding algorithm. Experimental results show that the lightweight decoding algorithm can resist the impact of smartphone sway and receiving position offset on decoding accuracy.