uml

digraph {
        graph [splines=ortho]
        node [style=filled fillcolor=lightgrey]

        zed [label="ZED Sensor"]
        xyzrgba [label="Color and Depth\nInformation" shape=box]

        zed -> xyzrgba -> rgba -> segment -> mask -> label -> annotated -> cluster -> centers
        xyzrgba -> depth -> label

        subgraph cluster_fusion {
                rgba [label="Color Information" shape=box]
                mask [label="Segmentation Mask" shape=box]
                segment [label="Image Segmentation Node"]
                depth [label="Depth Information" shape=box]
                label [label="Point Clound Labeling\nand Background Removal"]
                annotated [label="Points belonging to cones" shape=box]
                cluster [label="Three Dimensional Clustering\nand Top Point Reconstruction"]
        }

        centers [label="Cone Center Positions" shape=box]
}