Which depth image should we use ?

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Hello

I am using Kinect2 camera for our Robot. When I run kinect2_bridge.launch file from kinect2_bridge package it gives this list of topic for depth image :

1)kinect2/hd/image_depth_rect

2)kinect2/qhd/image_depth_rect

3)kinect2/sd/image_depth

4)kinect2/sd/image_depth_rect

Now I am converting depthimage to laserscan data using depthimage_to_laserscan package which subscribe image ( sensor_msgs/Image) topic

So from the above topic list which one should I use as a image topic for depthimage_to_laserscan.Please can anyone suggest me.