DOTSSample/Assets/Unity.Sample.Core/Scripts/DebugDisplay/Resources/DebugDisplayCustomPass3D.cs

using UnityEngine;
using UnityEngine.Rendering.HighDefinition;
using UnityEngine.Rendering;
using UnityEngine.Experimental.Rendering;
using Unity.DebugDisplay;

class DebugDisplayCustomPass3D : CustomPass
{
    // It can be used to configure render targets and their clear state. Also to create temporary render target textures.
    // When empty this render pass will render to the active camera render target.
    // You should never call CommandBuffer.SetRenderTarget. Instead call <c>ConfigureTarget</c> and <c>ConfigureClear</c>.
    // The render pipeline will ensure target setup and clearing happens in an performance manner.
    protected override void Setup(ScriptableRenderContext renderContext, CommandBuffer cmd)
    {
    }

    protected override void Execute(ScriptableRenderContext renderContext, CommandBuffer cmd, HDCamera camera, CullingResults cullingResult)
    {
        SetCameraRenderTarget(cmd);        
        Unity.DebugDisplay.Overlay.Managed.Render3D(camera.camera.cameraType, cmd);
    }

    protected override void Cleanup()
    {
    }
}