It usually is a bit of a pain to extract the maps and make it so they align nicely with the roll20 grid. But it is still your best option if you don't want to have simple line drawings of the encounter areas!
Some modules, mostly Adventure Path installments, have very strong map support from the community while others don't. You can find a lot of stuff over at PFSprep.com but unfortunately not for the modules you mentioned.
Don't use the snapshot tool until everything else failed!
If you use Acrobat Reader, you can use the selection cursor (which you would use to select text, looks like this: I) to select some images which you can then copy and paste to an image manipulation tool of your choice (I recommend the free GIMP). You can also use GIMP to blow up the size if necessary.
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My process for extraction:
Open with Adobe Reader
Select Image
Copy
Paste into MSPaint
Save as PNG
Open PNG with GIMP
Measure the grid that will always come up a horribly uneven number x vs y (usually 2-8 pixels off on grid dimensioning).
Use the scale tool to get my approximate scaling to 1sq = 25px on the measuring side
Save / Export as needed
Set your VTT map to 25px per 5' grid
Drop in map and align without snaps
Hope the extra pixel drift isn't too much on the far side of the map
One thing to keep in mind, is that maps with multiple floors, such as Schloss Caromarc from Carrion Crown, don't always use the same grid origin per floor. Those will need separate final sized files because of the two different grid origins per image. You can do cropping in GIMP to get your separate ones, for example.
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That is a very helpful guide, archmagi1, and pretty much the process I use, too.
However, one step is redundant: After copying the image in the PDF, you can open GIMP and select "File->Create->From Clipboard" to import it. When you want to save it as a PNG, go to "File->Export to".
With Academy of Secrets, you can cover a lot of maps by using the Magic Academy map pack. Laying the map packs in is a breeze. Extracting them from a module PDF is a bit trickier.
