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I think this all depends on the person. For some homeless, that dog gives a purpose in life. The dog must be fed and is a warm companion on a cold night.
If the dog is scrawny and obviously not being fed, then certainly the local animal control should be called to check on the dog. But if the animal is well-fed and seems happy, that homeless person, no matter how awful they may look, is probably taking better care of their pet than themselves.
In addition, a large dog may be protection for the man or woman. Sleeping on the streets, or in a car, is not safe in many cities, yet what choice do they have? In some cases, the dog may be the reason the person is on the streets. Many shelters don't allow pets and if it's a choice between a bed or the dog, some would choose the dog. As a dog lover who's lived in some pretty marginal neighborhoods because the landlord allowed pets, I can't be mad at a person for caring more about their dog than themselves.
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