If it is a DVD without CSS (ie any DVD produced from a home camera/DVD recorder/burned to a DVD-R/RW/+R/RW), or a commercial DVD without CSS, then nothing has to be decrypted to read/copy/extract from the DVD.
AFAIK, the legal issues had NOTHING to do with reading DVDs, but the actual decryption of the DVD (ie breaking CSS while reading the DVD), and if the program were limited to only DVDs without CSS (ie non-encrypted DVDs), then there would be no legal issues.
I personally use the IFO mode of the previous gen to read non-encrypted DVDs all the time, which is completely legal.