diff --git a/examples/logmovie.py b/examples/logmovie.py
index 577b4b1..c0d1991 100755
--- a/examples/logmovie.py
+++ b/examples/logmovie.py
@@ -45,7 +45,6 @@ from roboviz import Visualizer
 from sys import argv, exit
 from time import sleep
 from threading import Thread
-import pickle
 
 def threadfunc(robot, slam, timestamps, lidars, odometries, mapbytes, pose):
     '''
@@ -112,7 +111,7 @@ def main():
            else Deterministic_SLAM(MinesLaser(), MAP_SIZE_PIXELS, MAP_SIZE_METERS)
 
     # Set up a SLAM display, named by dataset
-    display = Visualizer(MAP_SIZE_PIXELS, MAP_SIZE_METERS*1000/MAP_SIZE_PIXELS, dataset)
+    display = Visualizer(MAP_SIZE_PIXELS, MAP_SIZE_METERS, dataset)
 
     # Pose will be modified in our threaded code
     pose = [0,0,0]
@@ -127,7 +126,7 @@ def main():
 
         # Display map and robot pose
         display.displayMap(mapbytes)
-        display.setPose(*pose)
+        display.setPose(pose[0]/1000., pose[1]/1000., pose[2])
 
         # Refresh the display, exiting gracefully if user closes it
         if not display.refresh():
diff --git a/examples/mines.py b/examples/mines.py
index 592eecd..0c6b69c 100644
--- a/examples/mines.py
+++ b/examples/mines.py
@@ -33,7 +33,6 @@ along with this code.  If not, see <http://www.gnu.org/licenses/>.
 from breezyslam.vehicles import WheeledVehicle
 from breezyslam.sensors import URG04LX
 
-import math
 
 
 # Method to load all from file ------------------------------------------------
diff --git a/examples/rpslam.py b/examples/rpslam.py
index cc096a1..393a099 100755
--- a/examples/rpslam.py
+++ b/examples/rpslam.py
@@ -43,7 +43,7 @@ if __name__ == '__main__':
     slam = RMHC_SLAM(LaserModel(), MAP_SIZE_PIXELS, MAP_SIZE_METERS)
 
     # Set up a SLAM display
-    display = Visualizer(MAP_SIZE_PIXELS, MAP_SIZE_METERS*1000/MAP_SIZE_PIXELS, 'SLAM')
+    display = Visualizer(MAP_SIZE_PIXELS, MAP_SIZE_METERS, 'SLAM')
 
     # Initialize an empty trajectory
     trajectory = []
@@ -90,7 +90,7 @@ if __name__ == '__main__':
         display.displayMap(mapbytes)
 
         # Display the robot's pose in the map
-        display.setPose(x, y, theta)
+        display.setPose(x/1000., y/1000., theta)
 
         # Break on window close
         if not display.refresh():
diff --git a/examples/rpslam_scipy.py b/examples/rpslam_scipy.py
index 5eea4ce..cf66c45 100755
--- a/examples/rpslam_scipy.py
+++ b/examples/rpslam_scipy.py
@@ -47,7 +47,7 @@ if __name__ == '__main__':
     slam = RMHC_SLAM(LaserModel(), MAP_SIZE_PIXELS, MAP_SIZE_METERS)
 
     # Set up a SLAM display
-    display = Visualizer(MAP_SIZE_PIXELS, MAP_SIZE_METERS*1000/MAP_SIZE_PIXELS, 'SLAM')
+    display = Visualizer(MAP_SIZE_PIXELS, MAP_SIZE_METERS, 'SLAM')
 
     # Initialize an empty trajectory
     trajectory = []
@@ -98,9 +98,11 @@ if __name__ == '__main__':
         # Get current map bytes as grayscale
         slam.getmap(mapbytes)
 
+        # Display map
         display.displayMap(mapbytes)
 
-        display.setPose(x, y, theta)
+        # Display pose after converting from mm to meters
+        display.setPose(x/1000., y/1000., theta)
 
         # Break on window close
         if not display.refresh():
diff --git a/examples/urgslam.py b/examples/urgslam.py
index fe02410..7525dc3 100755
--- a/examples/urgslam.py
+++ b/examples/urgslam.py
@@ -39,7 +39,7 @@ if __name__ == '__main__':
     slam = RMHC_SLAM(LaserModel(), MAP_SIZE_PIXELS, MAP_SIZE_METERS)
 
     # Set up a SLAM display
-    display = Visualizer(MAP_SIZE_PIXELS, MAP_SIZE_METERS*1000/MAP_SIZE_PIXELS, 'SLAM')
+    display = Visualizer(MAP_SIZE_PIXELS, MAP_SIZE_METERS, 'SLAM')
 
     # Initialize empty map
     mapbytes = bytearray(MAP_SIZE_PIXELS * MAP_SIZE_PIXELS)
@@ -55,9 +55,11 @@ if __name__ == '__main__':
         # Get current map bytes as grayscale
         slam.getmap(mapbytes)
 
+        # Display map
         display.displayMap(mapbytes)
 
-        display.setPose(x, y, theta)
+        # Display pose after converting from mm to meters
+        display.setPose(x/1000., y/1000., theta)
 
         # Exit on window close
         if not display.refresh():
diff --git a/examples/xvslam.py b/examples/xvslam.py
index e8a633e..c3b08ea 100755
--- a/examples/xvslam.py
+++ b/examples/xvslam.py
@@ -30,8 +30,6 @@ from xvlidar import XVLidar as Lidar
 
 from roboviz import Visualizer
 
-from sys import stdout
-
 if __name__ == '__main__':
 
     # Connect to Lidar unit
@@ -41,7 +39,7 @@ if __name__ == '__main__':
     slam = RMHC_SLAM(LaserModel(), MAP_SIZE_PIXELS, MAP_SIZE_METERS)
 
     # Set up a SLAM display
-    display = Visualizer(MAP_SIZE_PIXELS, MAP_SIZE_METERS*1000/MAP_SIZE_PIXELS, 'SLAM')
+    display = Visualizer(MAP_SIZE_PIXELS, MAP_SIZE_METERS, 'SLAM')
 
     # Initialize an empty trajectory
     trajectory = []
@@ -60,9 +58,11 @@ if __name__ == '__main__':
         # Get current map bytes as grayscale
         slam.getmap(mapbytes)
 
+        # Display map
         display.displayMap(mapbytes)
 
-        display.setPose(x, y, theta)
+        # Display pose after converting from mm to meters
+        display.setPose(x/1000., y/1000., theta)
 
         # Exit on window close
         if not display.refresh():