Is it possible to deserialize from a byte buffer with this library?

[photex]

I feel like I'm missing some crucial piece of the puzzle here, but is it correct that this library can only serialize types and not deserialize them?

I have a ton of mcap files that are encoded as cdr (https://mcap.dev/spec/registry#omgidl) and I can parse the schemas and get type instances, but I can't figure out how to connect the dots here and actually parse the buffer of the messages to get the actual important data.