atomic is not needed here since always modified in critical section, …

…wrong assert that works in release but not debug (#594)

src/perception/zed_wrapper/zed_wrapper.bridge.cu

@@ -37,7 +37,7 @@ namespace mrover {
         assert(bgraGpu.getWidth() >= xyzGpu.getWidth());
         assert(bgraGpu.getHeight() >= xyzGpu.getHeight());
         assert(bgraGpu.getChannels() == 4);
-        assert(xyzGpu.getChannels() == 3);
+        assert(xyzGpu.getChannels() == 4); // Last channel is unused
         assert(msg);
 
         auto* bgraGpuPtr = bgraGpu.getPtr<sl::uchar4>(sl::MEM::GPU);

src/perception/zed_wrapper/zed_wrapper.cpp

@@ -137,7 +137,7 @@ namespace mrover {
                 {
                     std::unique_lock lock{mSwapMutex};
                     // Waiting on the condition variable will drop the lock and reacquire it when the condition is met
-                    mSwapCv.wait(lock, [this] { return mIsSwapReady.load(); });
+                    mSwapCv.wait(lock, [this] { return mIsSwapReady; });
                     mIsSwapReady = false;
                     mPcThreadProfiler.measureEvent("Wait");
 

src/perception/zed_wrapper/zed_wrapper.hpp

@@ -53,7 +53,7 @@ namespace mrover {
         std::thread mPointCloudThread, mGrabThread;
         std::mutex mSwapMutex;
         std::condition_variable mSwapCv;
-        std::atomic_bool mIsSwapReady = false;
+        bool mIsSwapReady = false;
 
         LoopProfiler mPcThreadProfiler{"Zed Wrapper Point Cloud"}, mGrabThreadProfiler{"Zed Wrapper Grab"};