Cuboid descriptor based on histogrammed brightness values. INPUTS I - MxNxT double array (cuboid) with most vals in range [-1,1] sigmas - vector of spatial scales at which to look at gradient taus - vector of temporal scales at which to look at gradient ch2params - see imagedesc_ch2desc OUTPUTS desc - 1xp feature vector See also IMAGEDESC,IMAGEDESC_CH2DESC