difference between sw and hw registered processing ?
I am using fovis_ros and freenect with ros indigo and Ubuntu 14.04 The included fovis_hydro_openni.launch remap image_raw to camera/depth_registered/sw_registered/image_rect_raw
The problem is freenect do not publish /sw_registered/* topics, related to rgbd_launch package, so I simply switched to hw, so that it become camera/depth_registered/hw_registered/image_rect_raw, and odometry seems to be working.
The question is, there a difference between both hw and sw processing? Is it safe to use either?