From 06ecd147ecaacca941a7bb54b668fd02d2917fb4 Mon Sep 17 00:00:00 2001
From: Quintin <qhdwight@gmail.com>
Date: Fri, 27 Oct 2023 10:24:25 -0400
Subject: [PATCH] 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 | 2 +-
 src/perception/zed_wrapper/zed_wrapper.cpp       | 2 +-
 src/perception/zed_wrapper/zed_wrapper.hpp       | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/perception/zed_wrapper/zed_wrapper.bridge.cu b/src/perception/zed_wrapper/zed_wrapper.bridge.cu
index 62335d6e9..5ebab9f35 100644
--- a/src/perception/zed_wrapper/zed_wrapper.bridge.cu
+++ b/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);
diff --git a/src/perception/zed_wrapper/zed_wrapper.cpp b/src/perception/zed_wrapper/zed_wrapper.cpp
index c19353c8f..f69ef66ba 100644
--- a/src/perception/zed_wrapper/zed_wrapper.cpp
+++ b/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");
 
diff --git a/src/perception/zed_wrapper/zed_wrapper.hpp b/src/perception/zed_wrapper/zed_wrapper.hpp
index d252851bb..cde5d0aaa 100644
--- a/src/perception/zed_wrapper/zed_wrapper.hpp
+++ b/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"};