Mr Rolton said the woman spent several hours at the collection point.
"I was disgusted that she came prepared with bolt cutters and just disappointed because if she'd asked we'd probably have given it to her anyway."
St Vincent's gives away thousands of dollars of furniture and clothing to the poor each year.
The woman was one of three people who helped themselves to items that day.
One man took a jacket and another a suitcase.
Mr Rolton said since posting the video online it had received 4000 hits and he'd already had a call from a viewer who said the woman was seen unloading the bed in another street in Hamilton.
Mr Rolton planned to report the crime to police today.