Three imposters posing as Zika health workers entered a home and ran off with cash and electronics, media reported citing G1 News.
After the incident, authorities in Brazil have warned residents to guard against fraudsters.
The footage available with the G1 news site shows two men wearing Brazilian army uniforms and a third wearing the white jacket of a health inspector entering into the home on Friday.
"There have been 220,000 soldiers mobilized nationwide to join 300,000 health workers in house-to-house searches to eliminate possible breeding sites for the Aedes aegypti mosquito that transmits the Zika virus."
Zika is a disease caused by the zika virus through the bite of an infected Aedes species mosquito that transmits dengue, chikungunya and yellow fever. The disease can also be transmitted from pregnant mother to baby during pregnancy or around the time of birth.