graph TB;
data1[data_CompressedImage\njpeg; 1 topic]-->decode[(IMP_NVDEC\nuyvy422)]
decode-->ToBGR[(IMP_CVT\nBGR)]
ToBGR-->pub1[pub_to_NNI\n1 topic]
data2[data_Camera5400K\nuyvy422; 4 topic]-->SYNC[(IMP_SYNC)]
SYNC-->CAT[(IMP_SVS\nBGR)]
CAT-->pub2[pub_to_NNI\n1 topic]
CAT-->pub2-0[pub_to_REC\n1 topic]
pub1-.-> |" "|data3
pub2-->data3
data3[NNI_sub\nBGR; 1topic] --> Prep[(NNI_CRIZE)]
data3[NNI_sub\nBGR; 1topic] --> SV[(NNI_PASS)]
Prep-->SOD[(NNI_SOD)] -->pub3-1[pub_to_PCPT\n1 topic]
SV-->PSD[(NNI_PSD)]-->pub3-2[pub_to_PCPT\n1 topic]
SV-->SEG[(NNI_SEG)]-->pub3-3[pub_to_PCPT\n1 topic]