UnityでOpenCVを使うとInvaild textureというエラーが表示される

やりたいこと

Vive pro eyeのHMDに付随しているcameraから画像をTexture2D形式で取得して，その画像データをOpenCVを使って画像処理を行いたいです．

###直面している問題
Invaild texture UnityEngine.Texture2D:GetPixels32()というエラーが毎秒表示されます．
取得した画像も真っ黒になっています．
何が原因でInvaild textureになっているかが分からないです．

###ソースコード

C#
1//======= Copyright (c) Valve Corporation, All rights reserved. ===============
2using UnityEngine;
3using OpenCVForUnity;
4using OpenCVForUnity.UnityUtils;
5using OpenCVForUnity.ImgprocModule;
6using OpenCVForUnity.CoreModule;
7using UnityEngine.UI;
8
9namespace Valve.VR.Extras
10{
11    public class SteamVR_TestTrackedCamera_cp : MonoBehaviour
12    {
13        public Material material;
14        public Transform target;
15        public bool undistorted = true;
16        public bool cropped = true;
17
18
19        private readonly static Scalar blue_lower = new Scalar(110, 50, 50);//
20        private readonly static Scalar blue_upper = new Scalar(130, 255, 255);//
21
22
23        Mat imgMat;
24        Mat imgMat2;
25        Mat hsvMat;
26        Mat blurMat;
27        Mat binMat;
28        Mat Hierarchy;
29
30        Texture2D texture;
31        Texture2D texture_out;
32
33        //List<MatOfPoint> Contours;
34
35
36        private void OnEnable()
37        {
38            Debug.Log("OnEnable");//走ってる
39
40            // The video stream must be symmetrically acquired and released in
41            // order to properly disable the stream once there are no consumers.
42            SteamVR_TrackedCamera.VideoStreamTexture source = SteamVR_TrackedCamera.Source(undistorted);
43            source.Acquire();
44
45            // Auto-disable if no camera is present.
46            if (!source.hasCamera)
47                enabled = false;
48        }
49
50        private void OnDisable()
51        {
52            Debug.Log("OnDisable");//走ってる
53            // Clear the texture when no longer active.
54            material.mainTexture = null;
55
56            // The video stream must be symmetrically acquired and released in
57            // order to properly disable the stream once there are no consumers.
58            SteamVR_TrackedCamera.VideoStreamTexture source = SteamVR_TrackedCamera.Source(undistorted);
59            source.Release();
60        }
61
62        private void Update()
63        {
64            SteamVR_TrackedCamera.VideoStreamTexture source = SteamVR_TrackedCamera.Source(undistorted);
65            texture = source.texture;
66
67
68            //画像処理
69            //Matを生成する
70            imgMat = new Mat(texture.height, texture.width, CvType.CV_8UC3);
71
72            //Texture→Mat
73            OpenCVForUnity.UnityUtils.Utils.texture2DToMat(texture, imgMat,true,0);//おそらくこいつが原因かも
74
75            //ガウシアンフィルターによる平滑化
76            imgMat2 = new Mat(texture.height, texture.width, CvType.CV_8UC3);
77            Imgproc.GaussianBlur(imgMat, imgMat2, new Size(5, 5), 0);
78
79            // BGRからHSVに変換
80            hsvMat = new Mat(texture.height, texture.width, CvType.CV_8UC3);//CV_8UC3??
81            Imgproc.cvtColor(imgMat2, hsvMat, Imgproc.COLOR_RGB2HSV);
82
83            //medianBlur化
84            blurMat = new Mat(texture.height, texture.width, CvType.CV_8UC3);//CV_8CU3??
85            Imgproc.medianBlur(hsvMat, blurMat, 3);
86
87            //2値化
88            binMat = new Mat(texture.height, texture.width, CvType.CV_8UC3);//CV_8CU3??
89            Core.inRange(blurMat, blue_lower, blue_upper, binMat);
90
91
92            texture_out = new Texture2D(imgMat.cols(), imgMat.rows(), TextureFormat.RGBA32, false);//元のMatに輪郭が描かれたものが表示される
93            OpenCVForUnity.UnityUtils.Utils.matToTexture2D(imgMat2, texture_out);
94
95
96            if (texture == null)
97            {
98                
99                return;
100            }
101
102            // Apply the latest texture to the material.  This must be performed
103            // every frame since the underlying texture is actually part of a ring
104            // buffer which is updated in lock-step with its associated pose.
105            // (You actually really only need to call any of the accessors which
106            // internally call Update on the SteamVR_TrackedCamera.VideoStreamTexture).
107            
108            gameObject.GetComponent<Renderer>().material.mainTexture = texture_out;//追記した
109
110            // Adjust the height of the quad based on the aspect to keep the texels square.
111            float aspect = (float)texture.width / texture.height;
112
113            // The undistorted video feed has 'bad' areas near the edges where the original
114            // square texture feed is stretched to undo the fisheye from the lens.
115            // Therefore, you'll want to crop it to the specified frameBounds to remove this.
116            if (cropped)
117            {
118                VRTextureBounds_t bounds = source.frameBounds;
119                material.mainTextureOffset = new Vector2(bounds.uMin, bounds.vMin);
120
121                float du = bounds.uMax - bounds.uMin;
122                float dv = bounds.vMax - bounds.vMin;
123                material.mainTextureScale = new Vector2(du, dv);
124
125                aspect *= Mathf.Abs(du / dv);
126            }
127            else
128            {
129                material.mainTextureOffset = Vector2.zero;
130                material.mainTextureScale = new Vector2(1, -1);
131            }
132
133            //target.localScale = new Vector3(1, 1.0f / aspect, 1);//ここは変えなくておｋ？
134
135            // Apply the pose that this frame was recorded at.
136            if (source.hasTracking)
137            {
138
139                const float ProjectionZ = 1.0f;
140                Vector2 ProjectionScale = GetProjectionScale(source);
141                Vector2 LocalScale = new Vector2(10.0f * ProjectionZ / ProjectionScale.x, 10.0f * ProjectionZ / ProjectionScale.y);
142
143                target.localScale = new Vector3(LocalScale.x, LocalScale.y, 1.0f);
144
145
146
147                SteamVR_Utils.RigidTransform rigidTransform = source.transform;
148                target.localPosition = rigidTransform.TransformPoint(new Vector3(0.0f, 0.0f, ProjectionZ));
149                target.localRotation = rigidTransform.rot;
150            }
151        }
152
153        // プロジェクションのスケールを取得する
154        static Vector2 GetProjectionScale(SteamVR_TrackedCamera.VideoStreamTexture source)
155        {
156            Valve.VR.CVRTrackedCamera trackedCamera = Valve.VR.OpenVR.TrackedCamera;
157            if (trackedCamera == null) return Vector2.one;
158
159            // スケール値を取得するだけなので、Near/Farの値は何でも構わない
160            const float Near = 1.0f;
161            const float Far = 100.0f;
162            
163            //Valve.VR.HmdMatrix44_t ProjectionMatrix = new Valve.VR.HmdMatrix44_t();
164            
165            /*
166            if (trackedCamera.GetCameraProjection(source.deviceIndex,0,source.frameType,Near, Far, ref ProjectionMatrix) !=
167                Valve.VR.EVRTrackedCameraError.None)//コピペしたままだとエラーを吐かれる。引数が足りていないから。nCameraIndexの部分が足りていない。とりあえず、１にしてみた。
168            {
169                return Vector2.one;
170            }
171            */
172            
173
174            return new Vector2(10, 10);
175            
176            
177        }
178       
179    }
180}