I’m trying to figure out, if a certain 3D-Point is part of a certain non-geometric layer (e.g drivable_area).

With nusc_map.record_on_point() I can check this for a pixel on the map. This pixel gives the distance to the origin of the map while the lidar points are given in the sensor coordinate system. Is this correct?

How can I align the x-&y-coordinate from a lidar point with the record_on_point() function?

Thanks for your help!