function featureVector = makeDepthFeatureVector(img, scales)
% This code is copyrighted by Stanford University.
% Author: Ashutosh Saxena, Justin Drieymeyer
% Code cannot be used for commercial purposes.
% Use of the code, if used with permission from authors, must acknowledge:
% Learning to Grasp Novel Objects using Vision,
% Ashutosh Saxena, Justin Driemeyer, Justin Kearns, Chioma Osondu, Andrew Y. Ng. In 10th International Symposium on Experimental Robotics, ISER, 2006.
% Robotic Grasping of Novel Obects,
% Ashutosh Saxena, Justing Driemeyer, Justin Kearns, Andrew Y. Ng, In Neural Information Processing Systems (NIPS), 2006.
% More details at: http://ai.stanford.edu/~asaxena/learninggrasp/
% Version 0.1:   Aug 2006.


if nargin < 2
    scales = [1 2 5];
end
type = 'laws';


global nDim
global nGridCol nGridRow

numscales = length(scales);
% Fix the number of features to be a variable
featureVector = zeros(nGridRow, nGridCol, numscales*nDim);

for s=1:numscales
  scale = scales(s);
  dimensionIndex = ((s-1)*nDim + 1):(s*nDim);
  if scale == 1
    featureVector(:, :, dimensionIndex) = ...
      makeScaledDepthFeatureTexture(img, type, scale);
  elseif scale > 1
    tmp = imresize(img, 1/(2*(scale-1)+1));
    featureVector(:, :, dimensionIndex) = ...
      makeScaledDepthFeatureTexture(tmp, type, scale);
  elseif scale == -1
    tmp = imresize(img, 1/columnscale);
    featureVector(:, :, dimensionIndex) = ...
      makeColumnFeatureTexture(tmp, type, numcolumns);
  elseif scale == -2
    tmp = imresize(img, 1/wholescale);
    featureVector(:, :, dimensionIndex) = ...
      makeImageFeatureTexture(tmp, type);
  end
end

return;