Investigators say a witness noticed a suspicious man in the bushes in the city's southeast on Monday morning.
When the suspect left, the witness found a camera and phoned police to report that he was in a vehicle nearby.
The camera was allegedly pointed at a bus stop.
Police say they quickly learned that the 29-year-old man left his two-year-old daughter home alone while he was setting up and operating the video camera.
Police aren't releasing his name to protect the daughter's identity, but say he's charged with voyeurism and being unable or unwilling to provide the child with adequate care or supervision.
He has been released from custody and will next appear in court on Oct. 22.