Question Get world position of every pixel in Post-process shader

Hello. I wanna make sonar shader. It must be apply for every object of the scene.

I found SonarFx (https://github.com/keijiro/SonarFx) before, but there author using a "Camera.SetReplacementShader()" method. This method apply choosed shader for every object of a scene.
In SonarFx author using 2 color, first for sonar, second for every object of a scene, and it's a problem - all objects have a same color and same shader.
I wanna ignore it and apply only sonar effect, like here (https://github.com/MirzaBeig/Post-Processing-Scan). But this effect is too hard for me, and i want to make this simplify and i don't know how can i do it.

 

This video solve my problem