It doesn't work with Windows but Kaya Optics makes a filter for camcorders that allows vision through clothes.
It works because infra-red light refracts less and the CCD in camcorders are infrared sensitive.
Here is an example with a mannequin with lettering under her bathing suit.
Well stated.
We had that very thing happen at the local NBC TV station from which I retired when we first switched to CCD. No anatomy got exposed, but it looked like the reporterette on camera was wearing a see-through blouse, exposing her undergarments.
She freaked out at first because she suddenly saw herself in the line monitor, but she bit her lip and finished the report.