Mr Udaltsov is charged with organising "mass disorder" during a protest in Moscow in May 2012.
BBC: Russia activist Sergei Udaltsov under house arrest
Mr Udaltsov said the footage was a sham and the documentary "dirt and lies".
If convicted, Mr Udaltsov and the others face prison sentences of between four and 10 years.
BBC: Travel ban for Russian anti-Putin activist Udaltsov
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