From 35b1ac5609164b2cf0cb5b5fc6eaeb37bf0f2f86 Mon Sep 17 00:00:00 2001
From: Bamdad Dashtban <bamdadd@gmail.com>
Date: Thu, 30 Jul 2026 14:16:42 +0100
Subject: [PATCH 1/2] =?UTF-8?q?feat(viz):=203D=20scene=20viewer=20?=
 =?UTF-8?q?=E2=80=94=20camera=20locations=20+=20trajectory=20in=20world=20?=
 =?UTF-8?q?space?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

A static 3D world view of a scene manifest: each camera drawn as a view-cone at
its calibrated world position, a ground plane, and every entity's ground-truth
3D trajectory. Makes camera coverage and overlap directly visible instead of
inferring it from per-camera tiles. Schema-driven, works on any manifest;
defaults to the bundled MTMC golden fixture. matplotlib is lazy-imported and
headless-safe (Agg), so it is not a package dependency.

  uv run --with matplotlib python scripts/view_scene_3d.py

Featured in the README next to the existing hero renders.
---
 README.md                |   5 +
 docs/assets/scene_3d.png | Bin 0 -> 93452 bytes
 scripts/view_scene_3d.py | 207 +++++++++++++++++++++++++++++++++++++++
 3 files changed, 212 insertions(+)
 create mode 100644 docs/assets/scene_3d.png
 create mode 100644 scripts/view_scene_3d.py

diff --git a/README.md b/README.md
index a1de056..447a3bf 100644
--- a/README.md
+++ b/README.md
@@ -6,6 +6,11 @@
 the pure-numpy rasterizer, with the object's analytic projected box drawn in every
 view that sees it. Reproduce: `uv run --with pillow python scripts/render_multiview_hero.py`.*
 
+![A 3D world view of a scene: a translucent ground plane with three cameras drawn as red view-cones at their calibrated world positions, each pointing at the scene, and the object's ground-truth 3D trajectory as a blue polyline crossing the space.](docs/assets/scene_3d.png)
+
+*The scene in 3D: every camera drawn as a view-cone at its real calibrated world position, the ground plane, and the object's ground-truth trajectory across the frames.
+One picture of where the cameras are and what they cover — camera coverage and overlap are visible directly, not inferred from per-camera tiles. Works on any manifest; reproduce: `uv run --with matplotlib python scripts/view_scene_3d.py`.*
+
 ![Three MTMC camera stations with non-overlapping fields of view watch one object cross a corridor on a synced timeline; it hands off from camera 0 to 1 to 2, with blind-gap frames where no camera sees it.](docs/assets/hero_grid.gif)
 
 *One object, three cameras with **disjoint** views, one timeline — a green border
diff --git a/docs/assets/scene_3d.png b/docs/assets/scene_3d.png
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diff --git a/scripts/view_scene_3d.py b/scripts/view_scene_3d.py
new file mode 100644
index 0000000..476aad3
--- /dev/null
+++ b/scripts/view_scene_3d.py
@@ -0,0 +1,207 @@
+"""Render a scene manifest as one 3D world view: camera locations + trajectory.
+
+A single static 3D figure showing where every camera sits in the world (drawn as
+a small view-cone / frustum pointing along its optical axis), a ground plane, and
+each entity's ground-truth 3D trajectory over the frames. This is the "see the
+space" view -- unlike the per-camera tiles of ``record_multiview.py``, it draws
+the whole scene once so camera coverage and overlap are directly visible.
+
+Geometry follows ``multicam_sim.cameras.Camera``: ``R`` is the world->camera
+rotation with rows ``[right, down, forward]`` (OpenCV, +z forward) and ``t`` is
+the world->camera translation, so the camera centre is ``C = -R^T @ t`` and the
+frustum edges are the back-projected image corners ``R^T @ (K^-1 @ [u, v, 1])``.
+World up is +z; the ground plane is drawn at z = 0.
+
+Works on any manifest with the standard schema (``cameras[*].{K,R,t,width,
+height}`` and ``entities[*].frames[*].points[*].xyz_gt``); defaults to the
+bundled MTMC golden fixture.
+
+``matplotlib`` is imported lazily inside :func:`main` (it is not a package
+dependency), mirroring the lazy-import pattern in ``scripts/record_multiview.py``.
+Run::
+
+    uv run --with matplotlib python scripts/view_scene_3d.py
+    uv run --with matplotlib python scripts/view_scene_3d.py --manifest PATH --out PATH
+"""
+
+from __future__ import annotations
+
+import argparse
+import json
+from pathlib import Path
+from typing import TYPE_CHECKING, Any
+
+import numpy as np
+
+if TYPE_CHECKING:
+    from numpy.typing import NDArray
+
+_ROOT = Path(__file__).resolve().parent.parent
+_DEFAULT_MANIFEST = _ROOT / "tests" / "fixtures" / "manifest_golden" / "mtmc.json"
+_DEFAULT_OUT = _ROOT / "docs" / "assets" / "scene_3d.png"
+
+# How far in front of each camera to draw the frustum apex (world units).
+_FRUSTUM_DEPTH = 1.2
+
+
+def _camera_centre(
+    rotation: NDArray[np.float64], translation: NDArray[np.float64]
+) -> NDArray[np.float64]:
+    """World-space camera centre ``C = -R^T @ t``."""
+    return -rotation.T @ translation
+
+
+def _frustum_corners(
+    intrinsics: NDArray[np.float64],
+    rotation: NDArray[np.float64],
+    centre: NDArray[np.float64],
+    width: float,
+    height: float,
+    depth: float,
+) -> NDArray[np.float64]:
+    """The four image-corner rays back-projected to ``depth`` in world space.
+
+    A pixel ``[u, v, 1]`` back-projects to the world ray direction
+    ``R^T @ (K^-1 @ [u, v, 1])``; scaling so the forward (+z camera) component
+    equals ``depth`` puts the corner a fixed distance in front of the camera.
+    """
+    inv_k = np.linalg.inv(intrinsics)
+    corners_px = np.array(
+        [[0.0, 0.0], [width, 0.0], [width, height], [0.0, height]],
+        dtype=np.float64,
+    )
+    out = np.empty((4, 3), dtype=np.float64)
+    for i, (u, v) in enumerate(corners_px):
+        cam_ray = inv_k @ np.array([u, v, 1.0], dtype=np.float64)
+        cam_ray = cam_ray / cam_ray[2] * depth  # forward (+z) component == depth
+        out[i] = centre + rotation.T @ cam_ray
+    return out
+
+
+def _load_manifest(path: Path) -> dict[str, Any]:
+    with path.open("r", encoding="utf-8") as fh:
+        data: dict[str, Any] = json.load(fh)
+    return data
+
+
+def _trajectories(manifest: dict[str, Any]) -> list[tuple[str, NDArray[np.float64]]]:
+    """Per-(entity, point) ground-truth 3D polylines over the frames."""
+    out: list[tuple[str, NDArray[np.float64]]] = []
+    for entity in manifest.get("entities", []):
+        by_point: dict[str, list[list[float]]] = {}
+        for frame in entity.get("frames", []):
+            for name, point in frame.get("points", {}).items():
+                xyz = point.get("xyz_gt")
+                if xyz is not None:
+                    by_point.setdefault(name, []).append(list(xyz))
+        for name, coords in by_point.items():
+            label = entity.get("id", "object")
+            label = label if name == "center" else f"{label}:{name}"
+            out.append((str(label), np.asarray(coords, dtype=np.float64)))
+    return out
+
+
+def render(manifest: dict[str, Any], out_path: Path) -> Path:
+    """Render the 3D scene view to ``out_path`` (PNG) and return the path."""
+    import matplotlib
+
+    matplotlib.use("Agg")  # headless-safe: no display needed
+    import matplotlib.pyplot as plt
+
+    fig = plt.figure(figsize=(9, 7))
+    ax = fig.add_subplot(111, projection="3d")
+
+    all_points: list[NDArray[np.float64]] = []
+
+    # Cameras: centre marker + a wireframe frustum to the four image corners.
+    for cam in manifest.get("cameras", []):
+        intrinsics = np.asarray(cam["K"], dtype=np.float64)
+        rotation = np.asarray(cam["R"], dtype=np.float64)
+        translation = np.asarray(cam["t"], dtype=np.float64)
+        centre = _camera_centre(rotation, translation)
+        corners = _frustum_corners(
+            intrinsics,
+            rotation,
+            centre,
+            float(cam["width"]),
+            float(cam["height"]),
+            _FRUSTUM_DEPTH,
+        )
+        ax.scatter(*centre, color="crimson", s=40, depthshade=False)
+        ax.text(*centre, f"  cam {cam['id']}", color="crimson", fontsize=8)
+        for corner in corners:
+            edge = np.vstack([centre, corner])
+            ax.plot(edge[:, 0], edge[:, 1], edge[:, 2], color="crimson", linewidth=0.8)
+        loop = np.vstack([corners, corners[0]])
+        ax.plot(loop[:, 0], loop[:, 1], loop[:, 2], color="crimson", linewidth=0.8)
+        all_points.append(centre[None, :])
+        all_points.append(corners)
+
+    # Trajectories: one polyline per entity point.
+    for label, coords in _trajectories(manifest):
+        ax.plot(
+            coords[:, 0],
+            coords[:, 1],
+            coords[:, 2],
+            marker="o",
+            markersize=3,
+            linewidth=1.5,
+            label=f"trajectory: {label}",
+        )
+        all_points.append(coords)
+
+    if not all_points:
+        raise ValueError("manifest has no cameras or trajectories to draw")
+    pts = np.vstack(all_points)
+
+    # Ground plane at z = 0 spanning the scene's xy extent.
+    pad = 1.0
+    x_min, y_min = pts[:, 0].min() - pad, pts[:, 1].min() - pad
+    x_max, y_max = pts[:, 0].max() + pad, pts[:, 1].max() + pad
+    gx, gy = np.meshgrid(
+        np.linspace(x_min, x_max, 2),
+        np.linspace(y_min, y_max, 2),
+    )
+    ax.plot_surface(gx, gy, np.zeros_like(gx), alpha=0.12, color="steelblue")
+
+    ax.set_xlabel("x")
+    ax.set_ylabel("y")
+    ax.set_zlabel("z (up)")
+    ax.set_title("Scene: camera locations and object trajectory")
+    ax.legend(loc="upper left", fontsize=8)
+
+    # Equal aspect over the combined bounds so directions are not skewed.
+    span = pts.max(axis=0) - pts.min(axis=0)
+    span = np.where(span > 0, span, 1.0)
+    ax.set_box_aspect(tuple(span))
+
+    out_path.parent.mkdir(parents=True, exist_ok=True)
+    fig.savefig(out_path, dpi=130, bbox_inches="tight")
+    plt.close(fig)
+    return out_path
+
+
+def main() -> None:
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument(
+        "--manifest",
+        type=Path,
+        default=_DEFAULT_MANIFEST,
+        help="scene manifest JSON (default: bundled MTMC golden fixture)",
+    )
+    parser.add_argument(
+        "--out",
+        type=Path,
+        default=_DEFAULT_OUT,
+        help="output PNG path (default: docs/assets/scene_3d.png)",
+    )
+    args = parser.parse_args()
+
+    manifest = _load_manifest(args.manifest)
+    out_path = render(manifest, args.out)
+    size = out_path.stat().st_size
+    print(f"wrote {out_path}  ({size} bytes)")
+
+
+if __name__ == "__main__":
+    main()

From 8df404bec617231debe2fc578fc5389c047ac65c Mon Sep 17 00:00:00 2001
From: Bamdad Dashtban <bamdadd@gmail.com>
Date: Thu, 30 Jul 2026 15:03:37 +0100
Subject: [PATCH 2/2] =?UTF-8?q?feat(scene):=20overlapping-camera=20scenes?=
 =?UTF-8?q?=20=E2=80=94=20assembly=20line=20+=20left-to-right=20handoff?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Two domain-neutral multi-camera scenes with overlapping coverage, both
deterministic and covered by tests:

- assembly_line: an operator walks five workstations under five cameras with
  graduated overlap (issue #84); topology + per-station dwell + golden manifest.
- handoff_ltr: one object crosses the space left-to-right under four cameras —
  a left camera that sees it then loses it, two right cameras that pick it up
  with overlap bands (no near-camera blind gap), and a wide camera off the
  far-right end looking down the line that sees the object every frame.

Both read coverage off the manifest's own per-camera in_view flags. The 3D
scene viewer (scripts/view_scene_3d.py) draws either.
---
 docs/assets/handoff_ltr_3d.png                |  Bin 0 -> 96168 bytes
 src/multicam_sim/__init__.py                  |    4 +
 src/multicam_sim/assembly_line.py             |  149 +
 src/multicam_sim/handoff_ltr.py               |  126 +
 .../manifest_golden/assembly_line.json        | 2938 +++++++++++++++++
 tests/test_assembly_line.py                   |  120 +
 tests/test_handoff_ltr.py                     |  115 +
 tests/test_manifest_golden.py                 |    8 +-
 8 files changed, 3459 insertions(+), 1 deletion(-)
 create mode 100644 docs/assets/handoff_ltr_3d.png
 create mode 100644 src/multicam_sim/assembly_line.py
 create mode 100644 src/multicam_sim/handoff_ltr.py
 create mode 100644 tests/fixtures/manifest_golden/assembly_line.json
 create mode 100644 tests/test_assembly_line.py
 create mode 100644 tests/test_handoff_ltr.py

diff --git a/docs/assets/handoff_ltr_3d.png b/docs/assets/handoff_ltr_3d.png
new file mode 100644
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literal 0
HcmV?d00001

diff --git a/src/multicam_sim/__init__.py b/src/multicam_sim/__init__.py
index ed9502c..5b749c4 100644
--- a/src/multicam_sim/__init__.py
+++ b/src/multicam_sim/__init__.py
@@ -18,6 +18,7 @@
     write_coco,
     write_yolo,
 )
+from .assembly_line import build_assembly_line_scene
 from .cameras import Camera, Intrinsics
 from .dropout import SensorDropout
 from .entities import Entity, EntityFrame
@@ -28,6 +29,7 @@
     compute_group_membership,
     write_group_json,
 )
+from .handoff_ltr import build_handoff_ltr_scene
 from .manifest import (
     AssumedCalibration,
     CameraManifest,
@@ -107,7 +109,9 @@
     "TransitEdge",
     "YoloDataset",
     "YoloLabel",
+    "build_assembly_line_scene",
     "build_group_formation_scene",
+    "build_handoff_ltr_scene",
     "build_manifest",
     "build_mtmc_scene",
     "silhouette_visible_fraction",
diff --git a/src/multicam_sim/assembly_line.py b/src/multicam_sim/assembly_line.py
new file mode 100644
index 0000000..dd50a77
--- /dev/null
+++ b/src/multicam_sim/assembly_line.py
@@ -0,0 +1,149 @@
+"""Assembly-line scene: an operator walks a line of workstations under overlapping cameras.
+
+A domain-neutral counterpart to :mod:`multicam_sim.mtmc`. Where MTMC places
+cameras at SEPARATED stations with *disjoint* fields of view (an object is in at
+most one view at a time, with a genuine blind gap between them), this scene
+deliberately *overlaps* adjacent cameras' coverage along a straight walkway:
+
+  * five fixed **workstations** (``station_1`` .. ``station_5``) sit evenly
+    spaced along the line;
+  * one **operator** — a single moving point named ``center`` — walks the line
+    ``station_1 -> station_5``, pausing (a **dwell**, the operation) at each
+    station before moving on;
+  * five **cameras** stand back off the line, one framing each station, aimed so
+    that adjacent cameras' fields of view overlap over the walkway *between*
+    stations.
+
+The overlap is graduated, not universal: while the operator dwells at a station
+it is in exactly one camera's view, and while it *transits* between two adjacent
+stations it is in view on BOTH covering cameras at once. That two-camera transit
+interval is the overlap this scene exists to demonstrate (issue #84) — the
+manifest's per-camera ``in_view`` flags record it with no schema change, and a
+consumer can triangulate the operator wherever two cameras cover it.
+
+The operator keeps ONE stable ``entity.id`` throughout, the cross-camera
+ground-truth identity a tracker must preserve down the line. The scene carries a
+:class:`CameraTopology` whose stations name each workstation's covering camera
+and whose directed :class:`TransitEdge` s chain the walk ``station_i ->
+station_{i+1}`` (and back) with the transit time between them.
+
+v1 models the operator as a single point target ("center"), which keeps the
+overlap proof unambiguous (one point in view on two cameras) and the manifest
+compact; a COCO-17 skeleton operator (as in :mod:`examples.assembly_station`) is
+a deliberate future extension, not a gap.
+"""
+
+from __future__ import annotations
+
+from .cameras import Camera
+from .dsl.motion import Path, PathUnion
+from .dsl.rig import CameraRig, StationView
+from .entities import Entity
+from .scene import Scene
+from .topology import CameraTopology, Station, TransitEdge
+
+_WIDTH = 1280
+_HEIGHT_PX = 720
+_FPS = 10.0
+
+_NUM_STATIONS = 5
+#: Spacing between adjacent workstations along the walkway (world units, +x).
+_STATION_STEP = 3.0
+#: Height of the tracked operator point (torso, world +z).
+_OPERATOR_Z = 1.0
+#: Cameras stand back off the line along -y, looking toward the walkway.
+_CAM_Y = -4.0
+_CAM_Z = 2.2
+#: Wide-ish FOV so adjacent cameras' cones overlap over the walkway.
+_CAM_FOV_DEG = 70.0
+
+#: Seconds the operator walks between two adjacent stations.
+_WALK_S = 0.5
+#: Seconds the operator dwells (pauses, the operation) at each station.
+_DWELL_S = 0.4
+
+OPERATOR_ID = "operator-1"
+#: Domain-neutral workstation ids down the line.
+STATION_IDS = [f"station_{i + 1}" for i in range(_NUM_STATIONS)]
+
+
+def _station_x(index: int) -> float:
+    """World ``x`` of workstation ``index`` (0-based) along the walkway."""
+    return index * _STATION_STEP
+
+
+def _station_views() -> list[StationView]:
+    """One camera per workstation, standing back off the line and framing that
+    station. The wide FOV makes adjacent cones overlap over the walkway between
+    stations, so a transiting operator is seen by two cameras at once."""
+    return [
+        StationView(
+            position=(_station_x(i), _CAM_Y, _CAM_Z),
+            look_at=(_station_x(i), 0.0, _OPERATOR_Z),
+            fov_deg=_CAM_FOV_DEG,
+        )
+        for i in range(_NUM_STATIONS)
+    ]
+
+
+def _cameras() -> list[Camera]:
+    return CameraRig.stations(_station_views(), width=_WIDTH, height_px=_HEIGHT_PX)
+
+
+def _operator_path() -> PathUnion:
+    """A timed walk ``station_1 -> station_5`` with a dwell at each station.
+
+    Built from the motion DSL: a zero-length ``linear(p, p).over(dwell)`` segment
+    holds the operator in place for the dwell, chained by ``.then`` with a
+    ``linear(p_i, p_{i+1}).over(walk)`` transit segment for each leg. The dwell
+    segments make the operator's position constant across consecutive frames at
+    each station; the transit segments carry it (and its overlapping two-camera
+    coverage) between them.
+    """
+    points = [(_station_x(i), 0.0, _OPERATOR_Z) for i in range(_NUM_STATIONS)]
+    path: PathUnion = Path.linear(points[0], points[0]).over(_DWELL_S)
+    for i in range(_NUM_STATIONS - 1):
+        walk = Path.linear(points[i], points[i + 1]).over(_WALK_S)
+        dwell = Path.linear(points[i + 1], points[i + 1]).over(_DWELL_S)
+        path = path.then(walk).then(dwell)
+    return path
+
+
+def _num_frames(path: PathUnion) -> int:
+    """Frame count covering the whole timed walk at :data:`_FPS`, inclusive."""
+    return int(round(path.total_duration() * _FPS)) + 1
+
+
+def build_assembly_line_scene() -> Scene:
+    """Construct the deterministic overlapping assembly-line scene.
+
+    Five cameras with overlapping coverage watch one operator walk five
+    workstations, dwelling at each. Returns a :class:`Scene` carrying the
+    per-station :class:`CameraTopology` and no occluders.
+    """
+    cameras = _cameras()
+
+    path = _operator_path()
+    num_frames = _num_frames(path)
+    frames = path.compile_frames(_FPS, num_frames, name="center")
+    operator = Entity(id=OPERATOR_ID, frames=frames)
+
+    # Each workstation is covered by its own camera (same index); the walk chains
+    # station_i <-> station_{i+1} with the transit time between them.
+    transit_s = _WALK_S
+    stations = [Station(id=station_id, camera_ids=[i]) for i, station_id in enumerate(STATION_IDS)]
+    edges: list[TransitEdge] = []
+    for i in range(_NUM_STATIONS - 1):
+        src, dst = STATION_IDS[i], STATION_IDS[i + 1]
+        edges.append(TransitEdge(src=src, dst=dst, transit_time_s=transit_s))
+        edges.append(TransitEdge(src=dst, dst=src, transit_time_s=transit_s))
+    topology = CameraTopology(stations=stations, edges=edges)
+
+    return Scene(
+        fps=_FPS,
+        num_frames=num_frames,
+        cameras=cameras,
+        entities=[operator],
+        occluders=[],
+        topology=topology,
+    )
diff --git a/src/multicam_sim/handoff_ltr.py b/src/multicam_sim/handoff_ltr.py
new file mode 100644
index 0000000..d278296
--- /dev/null
+++ b/src/multicam_sim/handoff_ltr.py
@@ -0,0 +1,126 @@
+"""Left-to-right handoff scene: an object crosses the space, camera to camera.
+
+A domain-neutral scenario built to show a moving object being handed off across
+overlapping cameras as it travels in a straight line from left to right (world
+``-x -> +x``):
+
+  * a **left** camera frames the left of the space: the object starts fully in
+    its view and gradually leaves it as it moves right;
+  * two **right** cameras frame the middle and right of the space with
+    overlapping fields of view, so as the object leaves the left camera it
+    appears first in the middle-right camera and then, over an overlap band, in
+    both right cameras at once;
+  * a **wide** camera stands well back and frames the whole line, so it sees the
+    object on EVERY frame — the always-on reference view.
+
+The result is a graduated coverage hand-off recorded in the manifest's per-camera
+``in_view`` flags with no schema change: the left camera's ``in_view`` falls from
+true to false as the object exits, the two right cameras' rise as it enters (with
+an overlap band where both are true), and the wide camera is true throughout. The
+object keeps ONE stable ``entity.id``, the cross-camera identity a tracker must
+preserve across the hand-off.
+"""
+
+from __future__ import annotations
+
+from .cameras import Camera
+from .dsl.motion import Path
+from .dsl.rig import CameraRig, StationView
+from .entities import Entity
+from .scene import Scene
+from .topology import CameraTopology, Station, TransitEdge
+
+_WIDTH = 1280
+_HEIGHT_PX = 720
+_FPS = 10.0
+_NUM_FRAMES = 40
+
+#: The object travels this straight line, left to right, at torso height.
+_START_X = -8.0
+_END_X = 8.0
+_OBJECT_Y = 0.0
+_OBJECT_Z = 1.0
+
+#: Near cameras stand back off the line along -y, looking toward it.
+_CAM_Y = -5.0
+_CAM_Z = 1.8
+#: The wide reference camera stands off the FAR RIGHT end of the line and looks
+#: down its length toward the far left, so the whole path stays in its frustum.
+_WIDE_CAM_X = 13.0
+_WIDE_CAM_Y = -6.0
+_WIDE_CAM_Z = 3.0
+
+OBJECT_ID = "object-1"
+
+#: Camera ids, in declaration order.
+CAM_LEFT = 0
+CAM_MID_RIGHT = 1
+CAM_RIGHT = 2
+CAM_WIDE = 3
+
+
+def _station_views() -> list[StationView]:
+    """Four cameras: left, middle-right, right, and a wide always-on reference.
+
+    The three near cameras are aimed at successive x-regions of the line with a
+    moderate FOV so their coverage overlaps in bands; the wide camera sits far
+    back with a large FOV so the whole line stays inside its frustum every frame.
+    """
+    return [
+        # Left camera: frames the left of the line; the object starts here.
+        StationView(position=(-5.0, _CAM_Y, _CAM_Z), look_at=(-5.0, 0.0, _OBJECT_Z), fov_deg=70.0),
+        # Middle-right camera: frames the centre; picks the object up while it is
+        # still in the left camera (an overlap band, no blind gap), overlapping
+        # both neighbours.
+        StationView(position=(0.0, _CAM_Y, _CAM_Z), look_at=(0.0, 0.0, _OBJECT_Z), fov_deg=75.0),
+        # Right camera: frames the right end; overlaps the middle-right camera in
+        # a band, then holds the object to the end.
+        StationView(position=(6.0, _CAM_Y, _CAM_Z), look_at=(6.0, 0.0, _OBJECT_Z), fov_deg=60.0),
+        # Wide reference camera: stands off the FAR RIGHT end and looks down the
+        # length of the line toward the far left, so the whole left-to-right path
+        # runs away from it and stays in view every frame.
+        StationView(
+            position=(_WIDE_CAM_X, _WIDE_CAM_Y, _WIDE_CAM_Z),
+            look_at=(_START_X, 0.0, _OBJECT_Z),
+            fov_deg=90.0,
+        ),
+    ]
+
+
+def _cameras() -> list[Camera]:
+    return CameraRig.stations(_station_views(), width=_WIDTH, height_px=_HEIGHT_PX)
+
+
+def build_handoff_ltr_scene() -> Scene:
+    """Construct the deterministic left-to-right cross-camera handoff scene."""
+    cameras = _cameras()
+
+    start = (_START_X, _OBJECT_Y, _OBJECT_Z)
+    end = (_END_X, _OBJECT_Y, _OBJECT_Z)
+    frames = Path.linear(start, end).compile_frames(_FPS, _NUM_FRAMES, name="center")
+    entity = Entity(id=OBJECT_ID, frames=frames)
+
+    # Topology: three near stations left -> middle-right -> right, plus the wide
+    # reference station. Directed transit edges chain the left-to-right hand-off.
+    transit_s = _NUM_FRAMES / _FPS / 3.0
+    topology = CameraTopology(
+        stations=[
+            Station(id="left", camera_ids=[CAM_LEFT]),
+            Station(id="mid_right", camera_ids=[CAM_MID_RIGHT]),
+            Station(id="right", camera_ids=[CAM_RIGHT]),
+            Station(id="wide", camera_ids=[CAM_WIDE]),
+        ],
+        edges=[
+            TransitEdge(src="left", dst="mid_right", transit_time_s=transit_s),
+            TransitEdge(src="mid_right", dst="right", transit_time_s=transit_s),
+        ],
+    )
+
+    return Scene(
+        fps=_FPS,
+        num_frames=_NUM_FRAMES,
+        cameras=cameras,
+        entities=[entity],
+        occluders=[],
+        topology=topology,
+    )
diff --git a/tests/fixtures/manifest_golden/assembly_line.json b/tests/fixtures/manifest_golden/assembly_line.json
new file mode 100644
index 0000000..3b29e35
--- /dev/null
+++ b/tests/fixtures/manifest_golden/assembly_line.json
@@ -0,0 +1,2938 @@
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+          }
+        },
+        {
+          "frame": 40,
+          "points": {
+            "center": {
+              "xyz_gt": [
+                12.0,
+                0.0,
+                1.0
+              ],
+              "per_cam": [
+                {
+                  "cam": 0,
+                  "uv": [
+                    3266.40198408408,
+                    360.0
+                  ],
+                  "in_view": false,
+                  "visible": false,
+                  "occ_frac": 0.0
+                },
+                {
+                  "cam": 1,
+                  "uv": [
+                    2609.80148806306,
+                    360.0
+                  ],
+                  "in_view": false,
+                  "visible": false,
+                  "occ_frac": 0.0
+                },
+                {
+                  "cam": 2,
+                  "uv": [
+                    1953.20099204204,
+                    360.0
+                  ],
+                  "in_view": false,
+                  "visible": false,
+                  "occ_frac": 0.0
+                },
+                {
+                  "cam": 3,
+                  "uv": [
+                    1296.6004960210203,
+                    360.0
+                  ],
+                  "in_view": false,
+                  "visible": false,
+                  "occ_frac": 0.0
+                },
+                {
+                  "cam": 4,
+                  "uv": [
+                    640.0000000000001,
+                    360.0
+                  ],
+                  "in_view": true,
+                  "visible": true,
+                  "occ_frac": 0.0
+                }
+              ]
+            }
+          }
+        }
+      ]
+    }
+  ],
+  "topology": {
+    "stations": [
+      {
+        "id": "station_1",
+        "camera_ids": [
+          0
+        ]
+      },
+      {
+        "id": "station_2",
+        "camera_ids": [
+          1
+        ]
+      },
+      {
+        "id": "station_3",
+        "camera_ids": [
+          2
+        ]
+      },
+      {
+        "id": "station_4",
+        "camera_ids": [
+          3
+        ]
+      },
+      {
+        "id": "station_5",
+        "camera_ids": [
+          4
+        ]
+      }
+    ],
+    "edges": [
+      {
+        "src": "station_1",
+        "dst": "station_2",
+        "transit_time_s": 0.5
+      },
+      {
+        "src": "station_2",
+        "dst": "station_1",
+        "transit_time_s": 0.5
+      },
+      {
+        "src": "station_2",
+        "dst": "station_3",
+        "transit_time_s": 0.5
+      },
+      {
+        "src": "station_3",
+        "dst": "station_2",
+        "transit_time_s": 0.5
+      },
+      {
+        "src": "station_3",
+        "dst": "station_4",
+        "transit_time_s": 0.5
+      },
+      {
+        "src": "station_4",
+        "dst": "station_3",
+        "transit_time_s": 0.5
+      },
+      {
+        "src": "station_4",
+        "dst": "station_5",
+        "transit_time_s": 0.5
+      },
+      {
+        "src": "station_5",
+        "dst": "station_4",
+        "transit_time_s": 0.5
+      }
+    ]
+  }
+}
\ No newline at end of file
diff --git a/tests/test_assembly_line.py b/tests/test_assembly_line.py
new file mode 100644
index 0000000..456424f
--- /dev/null
+++ b/tests/test_assembly_line.py
@@ -0,0 +1,120 @@
+"""Assembly-line overlapping-coverage scene.
+
+One operator walks a line of five workstations, dwelling at each, watched by five
+cameras with deliberately OVERLAPPING fields of view. Exercises the serialized
+contract end to end: build the scene, write the manifest (strict JSON,
+``allow_nan=False``), reload it, and assert determinism, the down-the-line
+topology, the per-station dwell, and — the point of the scene — that the operator
+is ``in_view`` on at least two cameras at once during station-to-station
+transits. Overlap is read straight off the manifest's per-camera ``in_view``
+flags (the sim's own projection/visibility), never recomputed here.
+"""
+
+from __future__ import annotations
+
+import json
+import math
+from pathlib import Path
+
+from multicam_sim import build_assembly_line_scene, build_manifest, write_manifest
+from multicam_sim.assembly_line import OPERATOR_ID, STATION_IDS
+
+
+def _load(tmp_path: Path) -> dict:
+    scene = build_assembly_line_scene()
+    path = tmp_path / "assembly_line.json"
+    write_manifest(scene, path)
+    return json.loads(path.read_text())
+
+
+def _frames(manifest: dict) -> list[dict]:
+    return manifest["entities"][0]["frames"]
+
+
+def _in_view(frame: dict) -> list[bool]:
+    return [o["in_view"] for o in frame["points"]["center"]["per_cam"]]
+
+
+def test_manifest_is_strict_finite_json(tmp_path: Path) -> None:
+    """Every uv is finite — behind/out-of-frame projections are sanitised, so the
+    manifest is valid strict JSON (no Infinity/NaN) for the consumer."""
+    manifest = _load(tmp_path)
+    for frame in _frames(manifest):
+        for obs in frame["points"]["center"]["per_cam"]:
+            assert all(math.isfinite(c) for c in obs["uv"])
+
+
+def test_deterministic_byte_stable_manifest() -> None:
+    """The builder is deterministic: two independent builds serialise to the exact
+    same JSON bytes (no unseeded RNG anywhere in the scene)."""
+    first = build_manifest(build_assembly_line_scene()).to_json()
+    second = build_manifest(build_assembly_line_scene()).to_json()
+    assert first == second
+
+
+def test_visible_implies_in_view(tmp_path: Path) -> None:
+    """visible == in_view AND unoccluded, so visible is never true where in_view
+    is false."""
+    manifest = _load(tmp_path)
+    for frame in _frames(manifest):
+        for obs in frame["points"]["center"]["per_cam"]:
+            if obs["visible"]:
+                assert obs["in_view"]
+
+
+def test_operator_in_view_on_two_cameras_simultaneously(tmp_path: Path) -> None:
+    """The overlap proof: on some frame(s) the operator is in_view on AT LEAST
+    two cameras at once. Those frames are the station-to-station transits, and the
+    two covering cameras are always an ADJACENT pair (graduated overlap down the
+    line, not every camera seeing everything)."""
+    manifest = _load(tmp_path)
+    frames = _frames(manifest)
+    coverage = [sum(_in_view(f)) for f in frames]
+
+    two_cam = [i for i, c in enumerate(coverage) if c >= 2]
+    assert two_cam, "expected >=2-camera overlap frames during transits"
+
+    # Every overlap frame is covered by exactly an adjacent pair of cameras.
+    for i in two_cam:
+        seen = [cam for cam, iv in enumerate(_in_view(frames[i])) if iv]
+        assert len(seen) == 2, f"frame {i}: expected an adjacent pair, saw {seen}"
+        assert seen[1] - seen[0] == 1, f"frame {i}: cameras {seen} are not adjacent"
+
+    # It is genuine graduated overlap, not universal: no frame is seen by all cams.
+    assert max(coverage) < len(manifest["cameras"])
+    # The operator is always seen by at least one camera (no blind gap here).
+    assert min(coverage) >= 1
+
+
+def test_operator_dwells_at_each_station(tmp_path: Path) -> None:
+    """The dwell (the operation): the operator holds a constant position across
+    consecutive frames, once per workstation x."""
+    manifest = _load(tmp_path)
+    xs = [round(f["points"]["center"]["xyz_gt"][0], 6) for f in _frames(manifest)]
+
+    held = [a for a, b in zip(xs[:-1], xs[1:], strict=True) if a == b]
+    assert held, "expected held (dwell) frames where the operator pauses"
+
+    # A dwell happens at each of the five workstation x positions.
+    dwell_xs = {x for x, nxt in zip(xs[:-1], xs[1:], strict=True) if x == nxt}
+    assert len(dwell_xs) == len(STATION_IDS)
+
+
+def test_stable_identity_and_line_topology(tmp_path: Path) -> None:
+    """One operator with a stable id across every frame; topology emitted with a
+    station per workstation (its covering camera) and directed transit edges
+    chaining the line both ways."""
+    manifest = _load(tmp_path)
+    assert len(manifest["entities"]) == 1
+    assert manifest["entities"][0]["id"] == OPERATOR_ID
+
+    topo = manifest["topology"]
+    assert [s["id"] for s in topo["stations"]] == STATION_IDS
+    by_id = {s["id"]: s["camera_ids"] for s in topo["stations"]}
+    for i, station_id in enumerate(STATION_IDS):
+        assert by_id[station_id] == [i]
+
+    pairs = {(e["src"], e["dst"]) for e in topo["edges"]}
+    for a, b in zip(STATION_IDS[:-1], STATION_IDS[1:], strict=True):
+        assert (a, b) in pairs and (b, a) in pairs
+    assert all(e["transit_time_s"] > 0 for e in topo["edges"])
diff --git a/tests/test_handoff_ltr.py b/tests/test_handoff_ltr.py
new file mode 100644
index 0000000..a9a74bb
--- /dev/null
+++ b/tests/test_handoff_ltr.py
@@ -0,0 +1,115 @@
+"""Left-to-right cross-camera handoff scene.
+
+One object crosses the space in a straight line (world ``-x -> +x``) under four
+cameras: a LEFT camera that sees it first and loses it, two RIGHT cameras
+(mid-right, right) that pick it up as it enters — with overlap bands where two
+near cameras see it at once — and a WIDE camera off the far-right end, looking
+down the length of the line toward the far left, that sees the object on EVERY
+frame. Coverage is read straight off the manifest's per-camera ``in_view`` flags
+(the sim's own projection/visibility), never recomputed here.
+"""
+
+from __future__ import annotations
+
+import json
+import math
+from pathlib import Path
+
+from multicam_sim import build_handoff_ltr_scene, build_manifest, write_manifest
+from multicam_sim.handoff_ltr import (
+    CAM_LEFT,
+    CAM_MID_RIGHT,
+    CAM_RIGHT,
+    CAM_WIDE,
+    OBJECT_ID,
+)
+
+
+def _load(tmp_path: Path) -> dict:
+    scene = build_handoff_ltr_scene()
+    path = tmp_path / "handoff_ltr.json"
+    write_manifest(scene, path)
+    return json.loads(path.read_text())
+
+
+def _frames(manifest: dict) -> list[dict]:
+    return manifest["entities"][0]["frames"]
+
+
+def _in_view(frame: dict) -> list[bool]:
+    return [o["in_view"] for o in frame["points"]["center"]["per_cam"]]
+
+
+def test_deterministic_byte_stable_manifest() -> None:
+    """Two independent builds serialise to the exact same JSON bytes."""
+    first = build_manifest(build_handoff_ltr_scene()).to_json()
+    second = build_manifest(build_handoff_ltr_scene()).to_json()
+    assert first == second
+
+
+def test_manifest_is_strict_finite_json(tmp_path: Path) -> None:
+    """Every projected uv is finite (valid strict JSON, no Infinity/NaN)."""
+    manifest = _load(tmp_path)
+    for frame in _frames(manifest):
+        for obs in frame["points"]["center"]["per_cam"]:
+            assert all(math.isfinite(c) for c in obs["uv"])
+
+
+def test_object_moves_left_to_right(tmp_path: Path) -> None:
+    """The object's world x is monotonically non-decreasing across the frames."""
+    manifest = _load(tmp_path)
+    xs = [f["points"]["center"]["xyz_gt"][0] for f in _frames(manifest)]
+    assert xs[0] < xs[-1], "object should travel toward +x"
+    assert all(b >= a for a, b in zip(xs[:-1], xs[1:], strict=True))
+
+
+def test_wide_camera_sees_object_every_frame(tmp_path: Path) -> None:
+    """The far-right wide camera (looking down the line to the far left) is the
+    always-on reference: the object is in_view on it on EVERY frame."""
+    manifest = _load(tmp_path)
+    frames = _frames(manifest)
+    assert all(_in_view(f)[CAM_WIDE] for f in frames)
+
+
+def test_left_camera_sees_then_loses_the_object(tmp_path: Path) -> None:
+    """The LEFT camera sees the object at the start and loses it once the object
+    has moved right (a true->false transition, and it does not come back)."""
+    manifest = _load(tmp_path)
+    seen = [_in_view(f)[CAM_LEFT] for f in _frames(manifest)]
+    assert seen[0], "left camera should see the object at the start"
+    assert not seen[-1], "left camera should have lost the object by the end"
+    # One contiguous seen-then-gone run: after the first drop it never returns.
+    last_seen = max(i for i, v in enumerate(seen) if v)
+    assert all(not v for v in seen[last_seen + 1 :])
+    assert all(seen[: last_seen + 1]), "left coverage is one contiguous run"
+
+
+def test_right_cameras_pick_the_object_up(tmp_path: Path) -> None:
+    """The two RIGHT cameras enter after the start (the object is NOT in either at
+    frame 0) and hold it at the end, and the right camera is the final holder."""
+    manifest = _load(tmp_path)
+    frames = _frames(manifest)
+    first = _in_view(frames[0])
+    last = _in_view(frames[-1])
+    assert not first[CAM_MID_RIGHT] and not first[CAM_RIGHT], (
+        "right cameras should not yet see the object at the start"
+    )
+    assert last[CAM_RIGHT], "the right camera should hold the object at the end"
+
+
+def test_handoff_has_overlap_and_no_near_camera_blind_gap(tmp_path: Path) -> None:
+    """The handoff is smooth: on some frames two NEAR cameras (left/mid/right, not
+    the wide reference) see the object at once (overlap bands), and there is never
+    a frame where NO near camera sees it (no blind gap in the near coverage)."""
+    manifest = _load(tmp_path)
+    near = (CAM_LEFT, CAM_MID_RIGHT, CAM_RIGHT)
+    near_counts = [sum(_in_view(f)[c] for c in near) for f in _frames(manifest)]
+    assert max(near_counts) >= 2, "expected an overlap band of >=2 near cameras"
+    assert min(near_counts) >= 1, "no near-camera blind gap along the path"
+
+
+def test_stable_identity(tmp_path: Path) -> None:
+    """One object with a stable id across every frame."""
+    manifest = _load(tmp_path)
+    assert len(manifest["entities"]) == 1
+    assert manifest["entities"][0]["id"] == OBJECT_ID
diff --git a/tests/test_manifest_golden.py b/tests/test_manifest_golden.py
index 86092e9..cd871af 100644
--- a/tests/test_manifest_golden.py
+++ b/tests/test_manifest_golden.py
@@ -21,7 +21,12 @@
 
 import pytest
 
-from multicam_sim import build_manifest, build_mtmc_scene, build_smoke_scene
+from multicam_sim import (
+    build_assembly_line_scene,
+    build_manifest,
+    build_mtmc_scene,
+    build_smoke_scene,
+)
 from multicam_sim.scene import Scene
 
 _FIXTURES = Path(__file__).parent / "fixtures" / "manifest_golden"
@@ -67,6 +72,7 @@ def _same_shape(got: object, ref: object, path: str = "") -> None:
         ("smoke", build_smoke_scene),
         ("mtmc", build_mtmc_scene),
         ("assembly", _assembly_scene),
+        ("assembly_line", build_assembly_line_scene),
     ],
 )
 def test_manifest_json_matches_golden(name: str, scene_factory: object) -> None: