As the voxel size (vsize) decreases, the voxel coordinates of the ground truth (vox_coords_gt) increase, while the maximum range (max_range) remains unchanged. This means the scene representation range has the following relationship with vsize:

• vsize = 0.5: approximately [-25, 24.5] (width ~49.5)
• vsize = 0.2: approximately [-10, 9.8] (width ~19.8)
• vsize = 0.1: approximately [-5, 4.9] (width ~9.9)

Given this, does it mean that the Intersection-over-Union (IoU) calculation does not fully account for the entire scene?