Previously unseen CCTV footage of the July 7 suicide attacks on London's transport network was shown in court yesterday where three men accused of helping the bombers are on trial.

Some family members of 52 people who were killed in the attacks were in the public gallery to see the footage showing the four bombers' movements from the moment they met in Luton until they disappeared on to underground trains. Almost 200 others were injured in the attacks in 2005.

Home-video of the ringleader of the bombings introducing his baby daughter to one of the three men alleged to have helped him plot the attacks was also shown for the first time yesterday.

In footage shown to Kingston Crown Court in London, Edgware Road bomber Mohammed Siddique Khan films the child meeting her three "uncles".

Two of the men who would go on to join him in attacks on the London transport system in 2005, Shezhad Tanweer and Hasib Hussain, smile and lark about for the camera. The third, Waheed Ali, 24, who is seen holding the baby, is one of three men accused of carrying out a reconnaissance of possible targets for the bombers to attack.

Mr Ali, Sadeer Saleem, 27, and Mohammed Shakil, 31, deny conspiring with the four suicide bombers to cause explosions between November 17, 2004 and July 8, 2005.

However, yesterday the jury were told the men were very close. Prosecutor Neil Flewitt, QC, said that when Khan decided to take his planned mission of jihad from Afghanistan to the UK, they agreed to help him.

Mr Flewitt told the court the three men undertook a "hostile reconnaissance of potential targets", including the London Eye, the London Aquarium and the Natural History Museum, during a two-day trip to London.

The defendants say their friendship with the bombers was "entirely innocent" and the trip was an "innocent social outing" but the prosecution claims it was "part of a plot to cause explosions".

Mr Flewitt told the jury they would see material seized from the men's homes that would "provide a valuable insight into their attitudes and beliefs". This includes images of the devastation wrought by the September 11 attacks in the US, a long tract glorying in the achievement of those responsible and T-shirts emblazoned with the slogan "Warriors of Allah".

The jury saw the grainy footage, believed to have been shot in the kitchen and living room of Khan's home in the days before he flew to Pakistan in November 2004 to "fight jihad".

Once in Pakistan, however, Khan and Tanweer had a "change of plan" and they returned to the UK where Khan masterminded the July 7 attacks, Mr Flewitt said.

He told the jury Mr Ali was "particularly close" to Khan.

The court earlier heard that both Mr Ali and Mr Shakil had previously been on trips to Pakistan with Khan.

The trial continues.