[MCAP] Bugfix: fixed ZSTD decompression.

ihmcrobotics · Feb 22, 2024 · e8d065b · e8d065b
1 parent 86f0081
commit e8d065b
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Showing 2 changed files with 2 additions and 3 deletions.
diff --git a/scs2-session-logger/src/main/java/us/ihmc/scs2/session/mcap/MCAPLogFileReader.java b/scs2-session-logger/src/main/java/us/ihmc/scs2/session/mcap/MCAPLogFileReader.java
@@ -298,7 +298,7 @@ public void readMessagesAtCurrentTimestamp() throws IOException
       List<MCAP.Message> messages = messageManager.loadMessages(currentTimestamp.getValue());
       if (messages == null)
       {
-         LogTools.error("No messages at timestamp {}.", currentTimestamp.getValue());
+         LogTools.warn("No messages at timestamp {}.", currentTimestamp.getValue());
          return;
       }
       currentChunkStartTimestamp.set(messageManager.getActiveChunkStartTimestamp());

diff --git a/...session-logger/src/main/java/us/ihmc/scs2/session/mcap/input/MCAPByteBufferDataInput.java b/...session-logger/src/main/java/us/ihmc/scs2/session/mcap/input/MCAPByteBufferDataInput.java
@@ -84,7 +84,6 @@ public ByteBuffer getByteBuffer(long offset, int length, boolean direct)
    @Override
    public ByteBuffer getDecompressedByteBuffer(long offset, int compressedLength, int uncompressedLength, Compression compression, boolean direct)
    {
-      ByteBuffer compressedBuffer = getByteBuffer(offset, compressedLength, false);
       ByteBuffer decompressedBuffer;
 
       if (compression == Compression.LZ4)
@@ -101,7 +100,7 @@ else if (compression == Compression.ZSTD)
             int previousLimit = buffer.limit();
             buffer.limit((int) (offset + compressedLength));
             buffer.position((int) offset);
-            decompressedBuffer = zstdDecompressCtx.decompress(compressedBuffer, uncompressedLength);
+            decompressedBuffer = zstdDecompressCtx.decompress(buffer, uncompressedLength);
             buffer.position(previousPosition);
             buffer.limit(previousLimit);
          }