Lipschitz-Killing curvatures and polar images

We relate the Lipschitz-Killing measures of a definable set $X \subset \mathbb{R}^n$ in an o-minimal structure to the volumes of generic polar images. For smooth submanifolds of $\mathbb{R}^n$, such results were established by Langevin and Shifrin.Then we give infinitesimal versions of these results. As a corollary, we obtain a relation between the polar invariants of Comte and Merle and the densities of generic polar images.