I am reposting this question I asked and bountied on Math SE, which has been upvoted but not answered or commented on.

The intrinsic volumes (AKA Minkowski Functionals or, with different normalization, quermassintrgrals) $V_i:K\to \mathbb{R}$ of compact, convex subsets of $\mathbb{R}^d$ (denoted $K$) are important valuations in convex geometry. Hadwiger's Theorem states that, up to linear combination, these are the only valuations on compact, convex subsets of $\mathbb{R}^d$. These can be further extended to sets which are polyconvex, as shown in several sources, including Daniel A. Klain and Gian-Carlo Rota's Introduction to Geometric Probability.

My question is simply whether these intrinsic volumes $V_i$ are known to be defined for anything beyond polyconvex, compact sets.

I have found many sources which define them for polyconvex and compact sets, but none which go beyond that. For example, can the function be meaningfully extended to open sets or to 2D surfaces with boundary embedded in $\mathbb{R}^3$? Any knowledge of an extension beyond polyconvex, compact sets is appreciated!

For a full overview of intrinsic volumes, see "Introduction to Geometric Probability" by Klain and Rota.