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some fixes for python 3#1

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prehensile wants to merge 10 commits intoAI-Collaboratory:masterfrom
prehensile:master
Open

some fixes for python 3#1
prehensile wants to merge 10 commits intoAI-Collaboratory:masterfrom
prehensile:master

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@prehensile
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While using this class in debug mode in python 3, I was getting some errors to do with various python 2/3 incompatibilities. this push request fixes those, whilst maintaining compatibility with python 2

it's possible some of those errors were also because I'm using an image with dimensions that cause some of the hole proportion calculations to divide down to floats - this pull request also fixes these cases.

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