The frustom error happens because your camera rect is (0, 0, 0, 0). It's invalid.
To add widgets to your 3D space, simply create a 3D UI, not a 2D one. Or better yet, just add widgets to your 3D world as-is. Just make sure you have a UIPanel to add them to, or it will default to your existing UI. A widget is just like any other game object that you can position in the world. The layer it's on is what determines which camera sees it, and the panel it's under determines which batch of draw calls it will be in.