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Calculate distances between rooms on a 2D planimetry

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I gathered some planimetry images of an I want to estimate distances in pixels-meters, among those points.

I am looking for automatizing the calculation, and take into account multiple paths. 
Note that it could be possible to model the possibility to take in to account what happens when one moves between floors.

I have and idea on the algorithm part and I have some developing experience in Python and R, and I need a co-worker to help me speed up the development.