Ships on River Thames Tower Millennium Pier London

We were at the Thames Tower Millennium Pier London and saw quite a few ships/boats go by while we were waiting for ours. First a Thames Rocket boat raced past, then a MBNA Thames Clippers sped by the docked HMS Belfast. Finally the City Cruises Millennium Dawn is seen docking. You can see the highlights of our river cruise tour on the Thames here: https://www.youtube.com/watch?v=ETnocNf7Vlw