get_transform() method
Every actor in Carla has a get_transform() method that returns the location
and the rotation of the object in the world coordinates. While this is
straight forward for vehicles or other actors that we spawn in the world
coordinate system; for sensors it might get a bit confusing. It is because while
spawning the sensors attached to a vehicle, we specify their location and
rotation with respect to the vehicle coordinate system. Thus
lidar.get_transform() or camera.get_transform() will return their
carla.Transform object with respect to the world coordinates.