Raspberry Piで MXNet port of SSD Single Shot MultiBoxを動かして画像の物体検出をする方法

pi@raspberrypi:~/pytorch $ uname -a
Linux raspberrypi 4.14.50-v7+ #1122 SMP Tue Jun 19 12:26:26 BST 2018 armv7l GNU/Linux

# お決まりの sudo apt-get updateで最新状態に更新する
sudo apt-get update

# Getting started
# Building the MXNet port of SSD Single Shot MultiBox Object Detector on Raspberry Pi

# MXNet port of SSD Single Shot MultiBox Object Detectorのビルドに必要なパッケージをインストールする
sudo apt-get install python-opencv python-matplotlib python-numpy

# Cloning the MXNet port of SSD Single Shot MultiBox Object Detector
cd
git clone --recursive https://github.com/zhreshold/mxnet-ssd.git
cd mxnet-ssd/mxnet

# config.mkファイルをコピーする
# for Ubuntu/Debian
cp make/config.mk ./config.mk
# modify it if necessary

cat ./config.mk

cat ./config.mk

# whether use CUDA during compile
USE_CUDA = 0

# whether use opencv during compilation
# you can disable it, however, you will not able to use
# imbin iterator
USE_OPENCV = 1

# use openmp for parallelization
USE_OPENMP = 1

# whether use NNPACK library
USE_NNPACK = 0

# choose the version of blas you want to use
# can be: mkl, blas, atlas, openblas
# in default use atlas for linux while apple for osx
UNAME_S := $(shell uname -s)
ifeq ($(UNAME_S), Darwin)
USE_BLAS = apple
else
USE_BLAS = atlas
endif

# openmp
sudo apt-get -y install libomp-dev

pi@raspberrypi:~/mxnet-ssd/mxnet $ make
Makefile:218: WARNING: Significant performance increases can be achieved by installing and enabling gperftools or jemalloc development packages
Package opencv was not found in the pkg-config search path.
Perhaps you should add the directory containing `opencv.pc'
to the PKG_CONFIG_PATH environment variable
No package 'opencv' found
g++ -std=c++11 -c -DMSHADOW_FORCE_STREAM -Wall -Wsign-compare -O3 -DNDEBUG=1 -I/home/pi/mxnet-ssd/mxnet/mshadow/ -I/home/pi/mxnet-ssd/mxnet/dmlc-core/include -fPIC -I/home/pi/mxnet-ssd/mxnet/nnvm/include -I/home/pi/mxnet-ssd/mxnet/dlpack/include -Iinclude -funroll-loops -Wno-unused-variable -Wno-unused-parameter -Wno-unknown-pragmas -Wno-unused-local-typedefs -DMSHADOW_USE_SSE=0 -DMSHADOW_USE_CUDA=0 -DMSHADOW_USE_CBLAS=1 -DMSHADOW_USE_MKL=0 -DMSHADOW_RABIT_PS=0 -DMSHADOW_DIST_PS=0 -DMSHADOW_USE_PASCAL=0 -DMXNET_USE_OPENCV=1  -fopenmp  -DMXNET_USE_LIBJPEG_TURBO=0 -MMD -c src/operator/nn/softmax.cc -o build/src/operator/nn/softmax.o
In file included from /home/pi/mxnet-ssd/mxnet/mshadow/mshadow/tensor.h:16:0,
                 from include/mxnet/base.h:31,
                 from src/operator/nn/./../mxnet_op.h:29,
                 from src/operator/nn/./softmax-inl.h:29,
                 from src/operator/nn/softmax.cc:24:
/home/pi/mxnet-ssd/mxnet/mshadow/mshadow/./base.h:147:23: fatal error: cblas.h: No such file or directory
     #include <cblas.h>
                       ^
compilation terminated.
Makefile:349: recipe for target 'build/src/operator/nn/softmax.o' failed
make: *** [build/src/operator/nn/softmax.o] Error 1

sudo apt-get -y install libatlas-base-dev

In file included from src/io/image_aug_default.cc:29:0:
src/io/./image_augmenter.h:30:30: fatal error: opencv2/opencv.hpp: No such file or directory
 #include <opencv2/opencv.hpp>
                              ^
compilation terminated.
Makefile:349: recipe for target 'build/src/io/image_aug_default.o' failed
make: *** [build/src/io/image_aug_default.o] Error 1

sudo apt-get -y install libcv-dev libcvaux-dev libhighgui-dev

In file included from src/io/./image_augmenter.h:30:0,
                 from src/io/image_aug_default.cc:29:
/usr/include/opencv2/opencv.hpp:51:35: fatal error: opencv2/photo/photo.hpp: No such file or directory
 #include "opencv2/photo/photo.hpp"
                                   ^
compilation terminated.
Makefile:349: recipe for target 'build/src/io/image_aug_default.o' failed
make: *** [build/src/io/image_aug_default.o] Error 1

sudo apt-get -y install libopencv-dev

make

g++ -DMSHADOW_FORCE_STREAM -Wall -Wsign-compare -O3 -DNDEBUG=1 -I/home/pi/mxnet-ssd/mxnet/mshadow/ -I/home/pi/mxnet-ssd/mxnet/dmlc-core/include -fPIC -I/home/pi/mxnet-ssd/mxnet/nnvm/include -I/home/pi/mxnet-ssd/mxnet/dlpack/include -Iinclude -funroll-loops -Wno-unused-variable -Wno-unused-parameter -Wno-unknown-pragmas -Wno-unused-local-typedefs -DMSHADOW_USE_SSE=0 -DMSHADOW_USE_CUDA=0 -DMSHADOW_USE_CBLAS=1 -DMSHADOW_USE_MKL=0 -DMSHADOW_RABIT_PS=0 -DMSHADOW_DIST_PS=0 -DMSHADOW_USE_PASCAL=0 -DMXNET_USE_OPENCV=1 -I/usr/include/opencv -fopenmp -DMXNET_USE_LAPACK  -DMXNET_USE_LIBJPEG_TURBO=0 -std=c++11  -o bin/im2rec tools/im2rec.cc build/src/operator/nn/softmax.o build/src/operator/mkl/mkl_cppwrapper.o build/src/operator/mkl/mkl_memory.o build/src/operator/random/sample_multinomial_op.o build/src/operator/random/multisample_op.o build/src/operator/random/sample_op.o build/src/operator/tensor/elemwise_binary_broadcast_op_basic.o build/src/operator/tensor/elemwise_binary_op_logic.o build/src/operator/tensor/elemwise_binary_op_extended.o build/src/operator/tensor/square_sum.o build/src/operator/tensor/indexing_op.o build/src/operator/tensor/matrix_op.o build/src/operator/tensor/dot.o build/src/operator/tensor/elemwise_sum.o build/src/operator/tensor/init_op.o build/src/operator/tensor/la_op.o build/src/operator/tensor/broadcast_reduce_op_index.o build/src/operator/tensor/elemwise_binary_op.o build/src/operator/tensor/elemwise_binary_scalar_op_logic.o build/src/operator/tensor/elemwise_scatter_op.o build/src/operator/tensor/elemwise_unary_op_basic.o build/src/operator/tensor/elemwise_binary_broadcast_op_extended.o build/src/operator/tensor/broadcast_reduce_op_value.o build/src/operator/tensor/control_flow_op.o build/src/operator/tensor/elemwise_binary_op_basic.o build/src/operator/tensor/elemwise_binary_scalar_op_extended.o build/src/operator/tensor/elemwise_binary_broadcast_op_logic.o build/src/operator/tensor/sparse_retain.o build/src/operator/tensor/elemwise_binary_scalar_op_basic.o build/src/operator/tensor/ordering_op.o build/src/operator/tensor/cast_storage.o build/src/operator/tensor/elemwise_unary_op_trig.o build/src/operator/contrib/multibox_target.o build/src/operator/contrib/proposal.o build/src/operator/contrib/count_sketch.o build/src/operator/contrib/dequantize.o build/src/operator/contrib/psroi_pooling.o build/src/operator/contrib/deformable_psroi_pooling.o build/src/operator/contrib/ctc_loss.o build/src/operator/contrib/multibox_prior.o build/src/operator/contrib/multi_proposal.o build/src/operator/contrib/fft.o build/src/operator/contrib/quantize.o build/src/operator/contrib/deformable_convolution.o build/src/operator/contrib/ifft.o build/src/operator/contrib/multibox_detection.o build/src/operator/custom/native_op.o build/src/operator/custom/ndarray_op.o build/src/operator/custom/custom.o build/src/operator/nnpack/nnpack_util.o build/src/io/image_aug_default.o build/src/io/io.o build/src/io/iter_csv.o build/src/io/iter_image_det_recordio.o build/src/io/image_io.o build/src/io/image_det_aug_default.o build/src/io/iter_image_recordio.o build/src/io/iter_mnist.o build/src/io/iter_image_recordio_2.o build/src/io/iter_libsvm.o build/src/common/utils.o build/src/common/rtc.o build/src/nnvm/legacy_op_util.o build/src/nnvm/legacy_json_util.o build/src/imperative/cached_op.o build/src/imperative/imperative.o build/src/ndarray/ndarray_function.o build/src/ndarray/ndarray.o build/src/operator/instance_norm.o build/src/operator/pooling.o build/src/operator/convolution_v1.o build/src/operator/sequence_reverse.o build/src/operator/spatial_transformer.o build/src/operator/deconvolution.o build/src/operator/softmax_output.o build/src/operator/operator_util.o build/src/operator/crop.o build/src/operator/batch_norm_v1.o build/src/operator/rnn.o build/src/operator/swapaxis.o build/src/operator/sequence_last.o build/src/operator/operator.o build/src/operator/optimizer_op.o build/src/operator/lrn.o build/src/operator/correlation.o build/src/operator/pad.o build/src/operator/fully_connected.o build/src/operator/sequence_mask.o build/src/operator/concat.o build/src/operator/make_loss.o build/src/operator/grid_generator.o build/src/operator/cudnn_algoreg.o build/src/operator/pooling_v1.o build/src/operator/identity_attach_KL_sparse_reg.o build/src/operator/upsampling.o build/src/operator/svm_output.o build/src/operator/bilinear_sampler.o build/src/operator/loss_binary_op.o build/src/operator/convolution.o build/src/operator/roi_pooling.o build/src/operator/cudnn_batch_norm.o build/src/operator/cross_device_copy.o build/src/operator/regression_output.o build/src/operator/slice_channel.o build/src/operator/leaky_relu.o build/src/operator/activation.o build/src/operator/batch_norm.o build/src/operator/dropout.o build/src/operator/softmax_activation.o build/src/operator/l2_normalization.o build/src/engine/profiler.o build/src/engine/naive_engine.o build/src/engine/threaded_engine_pooled.o build/src/engine/threaded_engine.o build/src/engine/engine.o build/src/engine/threaded_engine_perdevice.o build/src/storage/storage.o build/src/c_api/c_api_executor.o build/src/c_api/c_api_symbolic.o build/src/c_api/c_api_ndarray.o build/src/c_api/c_predict_api.o build/src/c_api/c_api_function.o build/src/c_api/c_api.o build/src/c_api/c_api_error.o build/src/executor/inplace_addto_detect_pass.o build/src/executor/graph_executor.o build/src/executor/infer_graph_attr_pass.o build/src/executor/attach_op_execs_pass.o build/src/executor/attach_op_resource_pass.o build/src/kvstore/kvstore.o build/src/resource.o build/src/initialize.o /home/pi/mxnet-ssd/mxnet/dmlc-core/libdmlc.a /home/pi/mxnet-ssd/mxnet/nnvm/lib/libnnvm.a -pthread -lm -lcblas -fopenmp -lrt /usr/lib/arm-linux-gnueabihf/libopencv_calib3d.so -lopencv_calib3d /usr/lib/arm-linux-gnueabihf/libopencv_contrib.so -lopencv_contrib /usr/lib/arm-linux-gnueabihf/libopencv_core.so -lopencv_core /usr/lib/arm-linux-gnueabihf/libopencv_features2d.so -lopencv_features2d /usr/lib/arm-linux-gnueabihf/libopencv_flann.so -lopencv_flann /usr/lib/arm-linux-gnueabihf/libopencv_gpu.so -lopencv_gpu /usr/lib/arm-linux-gnueabihf/libopencv_highgui.so -lopencv_highgui /usr/lib/arm-linux-gnueabihf/libopencv_imgproc.so -lopencv_imgproc /usr/lib/arm-linux-gnueabihf/libopencv_legacy.so -lopencv_legacy /usr/lib/arm-linux-gnueabihf/libopencv_ml.so -lopencv_ml /usr/lib/arm-linux-gnueabihf/libopencv_objdetect.so -lopencv_objdetect /usr/lib/arm-linux-gnueabihf/libopencv_ocl.so -lopencv_ocl /usr/lib/arm-linux-gnueabihf/libopencv_photo.so -lopencv_photo /usr/lib/arm-linux-gnueabihf/libopencv_stitching.so -lopencv_stitching /usr/lib/arm-linux-gnueabihf/libopencv_superres.so -lopencv_superres /usr/lib/arm-linux-gnueabihf/libopencv_ts.so /usr/lib/arm-linux-gnueabihf/libopencv_video.so -lopencv_video /usr/lib/arm-linux-gnueabihf/libopencv_videostab.so -lopencv_videostab -llapack

pi@raspberrypi:~/mxnet-ssd/mxnet $ make runtest
Makefile:218: WARNING: Significant performance increases can be achieved by installing and enabling gperftools or jemalloc development packages
g++ -std=c++11 -Itests/cpp/include -Isrc -DMSHADOW_FORCE_STREAM -Wall -Wsign-compare -O3 -DNDEBUG=1 -I/home/pi/mxnet-ssd/mxnet/mshadow/ -I/home/pi/mxnet-ssd/mxnet/dmlc-core/include -fPIC -I/home/pi/mxnet-ssd/mxnet/nnvm/include -I/home/pi/mxnet-ssd/mxnet/dlpack/include -Iinclude -funroll-loops -Wno-unused-variable -Wno-unused-parameter -Wno-unknown-pragmas -Wno-unused-local-typedefs -DMSHADOW_USE_SSE=0 -DMSHADOW_USE_CUDA=0 -DMSHADOW_USE_CBLAS=1 -DMSHADOW_USE_MKL=0 -DMSHADOW_RABIT_PS=0 -DMSHADOW_DIST_PS=0 -DMSHADOW_USE_PASCAL=0 -DMXNET_USE_OPENCV=1 -I/usr/include/opencv -fopenmp -DMXNET_USE_LAPACK  -DMXNET_USE_LIBJPEG_TURBO=0 -I/include/ -MM -MT tests/cpp/operator/core_op_runner_test tests/cpp/operator/core_op_runner_test.cc > build/tests/cpp/operator/core_op_runner_test.d
g++ -c -std=c++11 -Itests/cpp/include -Isrc -DMSHADOW_FORCE_STREAM -Wall -Wsign-compare -O3 -DNDEBUG=1 -I/home/pi/mxnet-ssd/mxnet/mshadow/ -I/home/pi/mxnet-ssd/mxnet/dmlc-core/include -fPIC -I/home/pi/mxnet-ssd/mxnet/nnvm/include -I/home/pi/mxnet-ssd/mxnet/dlpack/include -Iinclude -funroll-loops -Wno-unused-variable -Wno-unused-parameter -Wno-unknown-pragmas -Wno-unused-local-typedefs -DMSHADOW_USE_SSE=0 -DMSHADOW_USE_CUDA=0 -DMSHADOW_USE_CBLAS=1 -DMSHADOW_USE_MKL=0 -DMSHADOW_RABIT_PS=0 -DMSHADOW_DIST_PS=0 -DMSHADOW_USE_PASCAL=0 -DMXNET_USE_OPENCV=1 -I/usr/include/opencv -fopenmp -DMXNET_USE_LAPACK  -DMXNET_USE_LIBJPEG_TURBO=0 -I/include/ -o build/tests/cpp/operator/core_op_runner_test.o tests/cpp/operator/core_op_runner_test.cc
tests/cpp/operator/core_op_runner_test.cc:28:25: fatal error: gtest/gtest.h: No such file or directory
 #include <gtest/gtest.h>
                         ^
compilation terminated.
tests/cpp/unittest.mk:24: recipe for target 'build/tests/cpp/operator/core_op_runner_test.o' failed
make: *** [build/tests/cpp/operator/core_op_runner_test.o] Error 1

# Google Test
# apt-get install libgtest-devは駄目 NG
sudo apt-get -y install libgtest-dev
# Setting up libgtest-dev:armhf (1.8.0-6) ...
# libgtest0は存在しない

pi@raspberrypi:~/mxnet-ssd/mxnet $ make runtest
/usr/bin/ld: cannot find -lgtest
collect2: error: ld returned 1 exit status
tests/cpp/unittest.mk:39: recipe for target 'build/tests/cpp/mxnet_test' failed
make: *** [build/tests/cpp/mxnet_test] Error 1

　どうすれば良いんだ？（下記の様に Gitのソースリストからビルドする）


# ---
pi@raspberrypi:~/mxnet-ssd $ sudo apt-get install libgtest0
Reading package lists... Done
Building dependency tree
Reading state information... Done
E: Unable to locate package libgtest0

pi@raspberrypi:~/mxnet-ssd $ apt-cache search libgtest
libgtest-dev - Google's framework for writing C++ tests [source code]

# https://github.com/google/googletest
cd
git clone https://github.com/google/googletest.git
cd googletest

sudo apt-get -y install cmake

mkdir build
cd build
cmake ..

make

sudo make install

pi@raspberrypi:~/mxnet-ssd/mxnet $ make runtest
Makefile:218: WARNING: Significant performance increases can be achieved by installing and enabling gperftools or jemalloc development packages
cd /home/pi/mxnet-ssd/mxnet/dmlc-core; make libdmlc.a USE_SSE=0 config=/home/pi/mxnet-ssd/mxnet/config.mk; cd /home/pi/mxnet-ssd/mxnet
make[1]: Entering directory '/home/pi/mxnet-ssd/mxnet/dmlc-core'
make[1]: 'libdmlc.a' is up to date.
make[1]: Leaving directory '/home/pi/mxnet-ssd/mxnet/dmlc-core'
LD_LIBRARY_PATH=/home/pi/mxnet-ssd/mxnet/lib: build/tests/cpp/mxnet_test

[==========] Running 53 tests from 11 test cases.
[----------] Global test environment set-up.
[----------] 9 tests from CORE_OP_RUNNER
[ RUN      ] CORE_OP_RUNNER.ExecuteBidirectionalSimpleUnaryList
TestBody
op.inputs()[0]: [dense] main shape: (5, 5)
[0.62945 , -0.72905 , 0.81158 , 0.67002 , -0.74603 ]
[0.93774 , 0.82675 , -0.55793 , 0.26472 , -0.38367 ]
[-0.80492 , 0.09444 , -0.44300 , -0.62324 , 0.09376 ]
[0.98576 , 0.91501 , 0.99292 , 0.92978 , 0.93539 ]
[-0.68477 , 0.45168 , 0.94119 , 0.96222 , 0.91433 ]
TestBody
...
[       OK ] CORE_OP_RUNNER.ExecuteBidirectionalList (6 ms)
[ RUN      ] CORE_OP_RUNNER.ExecuteBidirectionalDotProduct
Segmentation fault
tests/cpp/unittest.mk:42: recipe for target 'runtest' failed
make: *** [runtest] Error 139

pi@raspberrypi:~/mxnet-ssd/mxnet $ free -h
              total        used        free      shared  buff/cache   available
Mem:           976M         35M        500M         12M        441M        871M
Swap:          2.0G          0B        2.0G

cd
cd mxnet-ssd

# Resnet-50 512x512  VOC07+12 trainval  VOC07 test  79.1  fast
wget https://github.com/zhreshold/mxnet-ssd/releases/download/v0.6/resnet50_ssd_512_voc0712_trainval.zip
cd model
unzip ../resnet50_ssd_512_voc0712_trainval.zip
cd ..

# cd /path/to/mxnet-ssd
python demo.py --gpu 0
# RuntimeError: simple_bind error. Arguments:
# data: (1, 3, 512, 512)
# [00:13:38] src/storage/storage.cc:113: Compile with USE_CUDA=1 to enable GPU usage

# play with examples:
python demo.py --epoch 0 --images ./data/demo/dog.jpg --thresh 0.5
# RuntimeError: simple_bind error. Arguments:
# data: (1, 3, 512, 512)
# [00:14:17] src/storage/storage.cc:113: Compile with USE_CUDA=1 to enable GPU usage

python demo.py --cpu --network resnet50 --data-shape 512
# wait for library to load for the first time

# [00:14:32] src/nnvm/legacy_json_util.cc:190: Loading symbol saved by previous version v0.10.1. Attempting to upgrade...
# [00:14:32] src/nnvm/legacy_json_util.cc:198: Symbol successfully upgraded!
# Detection time for 1 images: 44.2037 sec
# _tkinter.TclError: no display name and no $DISPLAY environment variable
# SSHのターミナルで動かすと「画面が無えよ！」で怒られます

# ラズパイの X Window Systemを動かす
sudo systemctl start lightdm

# https://github.com/zhreshold/mxnet-ssd/blob/master/data/demo/dog.jpg

# ラズパイの X Window Systemのターミナルから実行する
python demo.py --cpu --network resnet50 --data-shape 512
# 69秒で画像の「車」「自転車」「犬」を認識して画面に表示します。

pi@raspberrypi:~/mxnet-ssd $ python demo.py --help
usage: demo.py [-h] [--network NETWORK] [--images IMAGES] [--dir [DIR]]
               [--ext [EXTENSION]] [--epoch EPOCH] [--prefix PREFIX] [--cpu]
               [--gpu GPU_ID] [--data-shape DATA_SHAPE] [--mean-r MEAN_R]
               [--mean-g MEAN_G] [--mean-b MEAN_B] [--thresh THRESH]
               [--nms NMS_THRESH] [--force FORCE_NMS] [--timer SHOW_TIMER]
               [--deploy] [--class-names CLASS_NAMES]

Single-shot detection network demo

optional arguments:
  -h, --help            show this help message and exit
  --network NETWORK     which network to use
  --images IMAGES       run demo with images, use comma to seperate multiple
                        images
  --dir [DIR]           demo image directory, optional
  --ext [EXTENSION]     image extension, optional
  --epoch EPOCH         epoch of trained model
  --prefix PREFIX       trained model prefix
  --cpu                 (override GPU) use CPU to detect
  --gpu GPU_ID          GPU device id to detect with
  --data-shape DATA_SHAPE
                        set image shape
  --mean-r MEAN_R       red mean value
  --mean-g MEAN_G       green mean value
  --mean-b MEAN_B       blue mean value
  --thresh THRESH       object visualize score threshold, default 0.6
  --nms NMS_THRESH      non-maximum suppression threshold, default 0.5
  --force FORCE_NMS     force non-maximum suppression on different class
  --timer SHOW_TIMER    show detection time
  --deploy              Load network from json file, rather than from symbol
  --class-names CLASS_NAMES
                        string of comma separated names, or text filename

cd
cd mxnet-ssd

# MobileNet 512x512  VOC07+12 trainval  VOC07 test  72.5  super fast
wget https://github.com/zhreshold/mxnet-ssd/releases/download/v0.7-alpha/mobilenet-ssd-512.zip
cd ./model
unzip ../mobilenet-ssd-512.zip
#  inflating: mobilenet-ssd-512-0001.params
#  inflating: mobilenet-ssd-512-symbol.json
cd ..

# mobilenet-ssd-512
python demo.py --cpu --network mobilenet --data-shape 512
# [00:35:36] include/dmlc/logging.h:308: [00:35:36] src/io/local_filesys.cc:166: Check failed: allow_null  LocalFileSystem: fail to open "/home/pi/mxnet-ssd/model/ssd_mobilenet_512-symbol.json"

pi@raspberrypi:~/mxnet-ssd $ ls -l model/
-rw-r--r-- 1 pi pi  38829547 Oct 31  2017 mobilenet-ssd-512-0001.params
-rw-r--r-- 1 pi pi     77296 Oct 31  2017 mobilenet-ssd-512-symbol.json
-rw-r--r-- 1 pi pi        94 Aug 20 13:13 README.md
-rw-r--r-- 1 pi pi 124747072 Jun 26  2017 ssd_resnet50_512-0000.params
-rw-r--r-- 1 pi pi    132373 Jun 26  2017 ssd_resnet50_512-symbol.json

mv ./model/mobilenet-ssd-512-symbol.json ./model/ssd_mobilenet_512-symbol.json
mv ./model/mobilenet-ssd-512-0001.params ./model/ssd_mobilenet_512-0000.params

# mobilenet-ssd-512
python demo.py --cpu --network mobilenet --data-shape 512
# Detection time for 1 images: 185.8840 sec
#   File "/home/pi/mxnet-ssd/detect/detector.py", line 120, in visualize_detection
#     plt.imshow(img)
# _tkinter.TclError: no display name and no $DISPLAY environment variable

import scipy.misc
        scipy.misc.imsave('outfile.jpg', img)
# ImportError: No module named scipy.misc

---
from PIL import Image

        # plt.show()
        im = Image.fromarray(img)
        im.save("outfile.jpg", "jpeg")

import matplotlib
matplotlib.use('Agg')

...

        # plt.show()
        plt.savefig('outfile.jpg')

pi@raspberrypi:~/mxnet-ssd $ sudo systemctl stop lightdm

pi@raspberrypi:~/mxnet-ssd $ free -h
              total        used        free      shared  buff/cache   available
Mem:           976M         31M        850M        680K         94M        896M
Swap:          2.0G         32M        2.0G

# Resnet-50 512x512  VOC07+12 trainval  VOC07 test  79.1  fast
# Default = ./data/demo/dog.jpg
pi@raspberrypi:~/mxnet-ssd $ python demo.py --cpu --network resnet50 --data-shape 512
[01:17:34] src/nnvm/legacy_json_util.cc:190: Loading symbol saved by previous version v0.10.1. Attempting to upgrade...
[01:17:34] src/nnvm/legacy_json_util.cc:198: Symbol successfully upgraded!
Detection time for 1 images: 33.1187 sec

# Default = ./data/demo/dog.jpg
pi@raspberrypi:~/mxnet-ssd $ python demo.py --cpu --network resnet50 --data-shape 512
[01:18:57] src/nnvm/legacy_json_util.cc:190: Loading symbol saved by previous version v0.10.1. Attempting to upgrade...
[01:18:57] src/nnvm/legacy_json_util.cc:198: Symbol successfully upgraded!
Detection time for 1 images: 33.1510 sec

# Default = ./data/demo/dog.jpg
pi@raspberrypi:~/mxnet-ssd $ python demo.py --cpu --network resnet50 --data-shape 512
[01:21:29] src/nnvm/legacy_json_util.cc:190: Loading symbol saved by previous version v0.10.1. Attempting to upgrade...
[01:21:29] src/nnvm/legacy_json_util.cc:198: Symbol successfully upgraded!
Detection time for 1 images: 33.5891 sec

# MobileNet 512x512  VOC07+12 trainval  VOC07 test  72.5  super fast
# Default = ./data/demo/dog.jpg
pi@raspberrypi:~/mxnet-ssd $ python demo.py --cpu --network mobilenet --data-shape 512
Detection time for 1 images: 8.2375 sec

# Default = ./data/demo/dog.jpg
pi@raspberrypi:~/mxnet-ssd $ python demo.py --cpu --network mobilenet --data-shape 512
Detection time for 1 images: 8.2396 sec

# Resnet-50 512x512  VOC07+12 trainval  VOC07 test  79.1  fast
pi@raspberrypi:~/mxnet-ssd $ python demo.py --cpu --network resnet50 --data-shape 512 --images ./data/demo/street.jpg
[01:28:15] src/nnvm/legacy_json_util.cc:190: Loading symbol saved by previous version v0.10.1. Attempting to upgrade...
[01:28:15] src/nnvm/legacy_json_util.cc:198: Symbol successfully upgraded!
Detection time for 1 images: 33.4200 sec

# MobileNet 512x512  VOC07+12 trainval  VOC07 test  72.5  super fast
pi@raspberrypi:~/mxnet-ssd $ python demo.py --cpu --network mobilenet --data-shape 512 --images ./data/demo/street.jpg
Detection time for 1 images: 8.5379 sec

pi@raspberrypi:~/mxnet-ssd/mxnet $ make
Makefile:218: WARNING: Significant performance increases can be achieved by installing and enabling gperftools or jemalloc development packages
...

pi@raspberrypi:~/mxnet-ssd/mxnet $ cat ./config.mk | grep MALLOC
USE_JEMALLOC = 1

pi@raspberrypi:~/mxnet-ssd/mxnet $ apt-cache search jemalloc
libjemalloc-dev - development files and documentation for jemalloc

sudo apt-get -y install libjemalloc-dev
# Setting up libjemalloc1 (3.6.0-9.1) ...
# Setting up libjemalloc-dev (3.6.0-9.1) ...

pi@raspberrypi:~/mxnet-ssd/mxnet $ make
Package opencv was not found in the pkg-config search path.
Perhaps you should add the directory containing `opencv.pc'
to the PKG_CONFIG_PATH environment variable
No package 'opencv' found
...

sudo apt-get -y install libopencv-dev

# make cleanで全部綺麗にする
pi@raspberrypi:~/mxnet-ssd/mxnet $ make clean

# gperftools or jemalloc
pi@raspberrypi:~/mxnet-ssd/mxnet $ make
Makefile:218: WARNING: Significant performance increases can be achieved by installing and enabling gperftools or jemalloc development packages
g++ -std=c++11 -c -DMSHADOW_FORCE_STREAM -Wall -Wsign-compare -O3 -DNDEBUG=1 -I/home/pi/mxnet-ssd/mxnet/mshadow/ -I/home/pi/mxnet-ssd/mxnet/dmlc-core/include -fPIC -I/home/pi/mxnet-ssd/mxnet/nnvm/include -I/home/pi/mxnet-ssd/mxnet/dlpack/include -Iinclude -funroll-loops -Wno-unused-variable -Wno-unused-parameter -Wno-unknown-pragmas -Wno-unused-local-typedefs -DMSHADOW_USE_SSE=0 -DMSHADOW_USE_CUDA=0 -DMSHADOW_USE_CBLAS=1 -DMSHADOW_USE_MKL=0 -DMSHADOW_RABIT_PS=0 -DMSHADOW_DIST_PS=0 -DMSHADOW_USE_PASCAL=0 -DMXNET_USE_OPENCV=1 -I/usr/include/opencv -fopenmp -DMXNET_USE_LAPACK  -DMXNET_USE_LIBJPEG_TURBO=0 -MMD -c src/operator/nn/softmax.cc -o build/src/operator/nn/softmax.o

pi@raspberrypi:~/mxnet-ssd/mxnet $ apt-cache search gperftools
google-perftools - command line utilities to analyze the performance of C++ programs
libgoogle-perftools-dev - libraries for CPU and heap analysis, plus an efficient thread-caching malloc
libgoogle-perftools4 - libraries for CPU and heap analysis, plus an efficient thread-caching malloc
libtcmalloc-minimal4 - efficient thread-caching malloc

# jemalloc（libjemalloc-dev）は apt-get install済みなので gperftoolsを apt-get install
sudo apt-get -y install libgoogle-perftools-dev
# Setting up libgoogle-perftools-dev (2.5-2.2) ...

# make cleanで全部綺麗にする
pi@raspberrypi:~/mxnet-ssd/mxnet $ make clean

# 警告が出なくなった！
pi@raspberrypi:~/mxnet-ssd/mxnet $ make
g++ -std=c++11 -c -DMSHADOW_FORCE_STREAM -Wall -Wsign-compare -O3 -DNDEBUG=1 -I/home/pi/mxnet-ssd/mxnet/mshadow/ -I/home/pi/mxnet-ssd/mxnet/dmlc-core/include -fPIC -I/home/pi/mxnet-ssd/mxnet/nnvm/include -I/home/pi/mxnet-ssd/mxnet/dlpack/include -Iinclude -funroll-loops -Wno-unused-variable -Wno-unused-parameter -Wno-unknown-pragmas -Wno-unused-local-typedefs -DMSHADOW_USE_SSE=0 -DMSHADOW_USE_CUDA=0 -DMSHADOW_USE_CBLAS=1 -DMSHADOW_USE_MKL=0 -DMSHADOW_RABIT_PS=0 -DMSHADOW_DIST_PS=0 -DMSHADOW_USE_PASCAL=0 -DMXNET_USE_OPENCV=1 -I/usr/include/opencv -fopenmp -DMXNET_USE_LAPACK -fno-builtin-malloc -fno-builtin-calloc -fno-builtin-realloc -fno-builtin-free  -DMXNET_USE_LIBJPEG_TURBO=0 -MMD -c src/operator/nn/softmax.cc -o build/src/operator/nn/softmax.o

# 2コアビルドで時間短縮（make -j3の 3コアだと SWAPが発生で逆に遅くなる）
pi@raspberrypi:~/mxnet-ssd/mxnet $ make -j2

2コアビルドで大体 100分くらいでビルドが完了します。

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