Module point 

POINT message type implementation

The POINT message type is used to transfer information about fiducials, which are often used in surgical planning and navigation.

Use Cases

• Surgical Navigation - Fiducial markers for patient-to-image registration
• Biopsy Planning - Target points for needle insertion
• Tumor Localization - Marking tumor boundaries in pre-operative images
• Anatomical Landmarks - Identifying critical structures (nerves, vessels)
• Treatment Verification - Comparing planned vs. actual positions

Point Attributes

Each point contains:

• 3D Position (x, y, z) - Coordinates in mm
• Name - Identifier (e.g., “Fiducial_1”, “TumorCenter”)
• Group - Logical grouping (e.g., “Fiducials”, “Targets”)
• Color (RGBA) - Visualization color
• Diameter - Size for rendering (mm)
• Owner - Associated image/coordinate frame

Examples

Registering Fiducial Points for Navigation

use openigtlink_rust::protocol::types::{PointMessage, PointElement};
use openigtlink_rust::protocol::message::IgtlMessage;
use openigtlink_rust::io::ClientBuilder;

let mut client = ClientBuilder::new()
    .tcp("127.0.0.1:18944")
    .sync()
    .build()?;

// Fiducial 1: Nasion (nose bridge)
let fid1 = PointElement::with_details(
    "Nasion",
    "Fiducials",
    [255, 0, 0, 255],        // Red
    [0.0, 85.0, -30.0],      // x, y, z in mm
    5.0,                      // 5mm sphere
    "CTImage"
);

// Fiducial 2: Left ear
let fid2 = PointElement::with_details(
    "LeftEar",
    "Fiducials",
    [0, 255, 0, 255],        // Green
    [-75.0, 0.0, -20.0],
    5.0,
    "CTImage"
);

// Fiducial 3: Right ear
let fid3 = PointElement::with_details(
    "RightEar",
    "Fiducials",
    [0, 0, 255, 255],        // Blue
    [75.0, 0.0, -20.0],
    5.0,
    "CTImage"
);

let point_msg = PointMessage::new(vec![fid1, fid2, fid3]);
let msg = IgtlMessage::new(point_msg, "NavigationSystem")?;
client.send(&msg)?;

Receiving Biopsy Target Points

use openigtlink_rust::io::IgtlServer;
use openigtlink_rust::protocol::types::PointMessage;

let server = IgtlServer::bind("0.0.0.0:18944")?;
let mut client_conn = server.accept()?;

let message = client_conn.receive::<PointMessage>()?;

println!("Received {} points", message.content.points.len());

for (i, point) in message.content.points.iter().enumerate() {
    println!("\nPoint {}: {}", i + 1, point.name);
    println!("  Group: {}", point.group);
    println!("  Position: ({:.2}, {:.2}, {:.2}) mm",
             point.position[0], point.position[1], point.position[2]);
    println!("  Color: RGB({}, {}, {})",
             point.rgba[0], point.rgba[1], point.rgba[2]);
    println!("  Diameter: {:.2} mm", point.diameter);
}

Structs

PointElement

Point/fiducial data element

PointMessage

POINT message containing multiple fiducial points