ssd_kerasのSSD.ipyndをjupyter notebookでRunするとエラーが起きます

前提・実現したいこと

Telloのカメラからリアルタイムに物体認識を行うためssd_kerasを動かしたいです。
Telloを動かすのはTelloPyを用いようと考えています。

発生している問題・エラーメッセージ

AttributeError                            Traceback (most recent call last)
<ipython-input-53-4ea723c8f5e8> in <module>()
     37         currentAxis.text(xmin, ymin, display_txt, bbox={'facecolor':color, 'alpha':0.5})
     38 
---> 39     plt.show()

~\Anaconda3\envs\py3.5.2\lib\site-packages\matplotlib\pyplot.py in show(*args, **kw)
    250     """
    251     global _show
--> 252     return _show(*args, **kw)
    253 
    254 

~\Anaconda3\envs\py3.5.2\lib\site-packages\ipykernel\pylab\backend_inline.py in show(close, block)
     37             display(
     38                 figure_manager.canvas.figure,
---> 39                 metadata=_fetch_figure_metadata(figure_manager.canvas.figure)
     40             )
     41     finally:

~\Anaconda3\envs\py3.5.2\lib\site-packages\ipykernel\pylab\backend_inline.py in _fetch_figure_metadata(fig)
    172     """Get some metadata to help with displaying a figure."""
    173     # determine if a background is needed for legibility
--> 174     if _is_transparent(fig.get_facecolor()):
    175         # the background is transparent
    176         ticksLight = _is_light([label.get_color()

~\Anaconda3\envs\py3.5.2\lib\site-packages\ipykernel\pylab\backend_inline.py in _is_transparent(color)
    193 def _is_transparent(color):
    194     """Determine transparency from alpha."""
--> 195     rgba = colors.to_rgba(color)
    196 
    197     return rgba[3] < .5

AttributeError: module 'matplotlib.colors' has no attribute 'to_rgba'

該当のソースコード

Python3.5.2
1for i, img in enumerate(images):
2    # Parse the outputs.
3    det_label = results[i][:, 0]
4    det_conf = results[i][:, 1]
5    det_xmin = results[i][:, 2]
6    det_ymin = results[i][:, 3]
7    det_xmax = results[i][:, 4]
8    det_ymax = results[i][:, 5]
9
10    # Get detections with confidence higher than 0.6.
11    top_indices = [i for i, conf in enumerate(det_conf) if conf >= 0.6]
12
13    top_conf = det_conf[top_indices]
14    top_label_indices = det_label[top_indices].tolist()
15    top_xmin = det_xmin[top_indices]
16    top_ymin = det_ymin[top_indices]
17    top_xmax = det_xmax[top_indices]
18    top_ymax = det_ymax[top_indices]
19
20    colors = plt.cm.hsv(np.linspace(0, 1, 21)).tolist()
21
22    plt.imshow(img / 255.)
23    currentAxis = plt.gca()
24
25    for i in range(top_conf.shape[0]):
26        xmin = int(round(top_xmin[i] * img.shape[1]))
27        ymin = int(round(top_ymin[i] * img.shape[0]))
28        xmax = int(round(top_xmax[i] * img.shape[1]))
29        ymax = int(round(top_ymax[i] * img.shape[0]))
30        score = top_conf[i]
31        label = int(top_label_indices[i])
32        label_name = voc_classes[label - 1]
33        display_txt = '{:0.2f}, {}'.format(score, label_name)
34        coords = (xmin, ymin), xmax-xmin+1, ymax-ymin+1
35        color = colors[label]
36        currentAxis.add_patch(plt.Rectangle(*coords, fill=False, edgecolor=color, linewidth=2))
37        currentAxis.text(xmin, ymin, display_txt, bbox={'facecolor':color, 'alpha':0.5})
38    
39    plt.show()

試したこと

matplolibを--upgradeしてバージョンを新しくすると異なるところでバージョンの不一致とエラーが出ました...

Lib\site-packages\ipykernel\pylab\backend_inline.pyの146~148行目に
"""
Changes to matplotlib in version 1.2 requires a mpl backend to supply a default
figurecanvas. This is set here to a Agg canvas
See https://github.com/matplotlib/matplotlib/pull/1125
"""
と記載があったのでmatplotlib=1.2.0を入れようとするとこれまたエラーが起きました...