Put a level on it and a tape measure to the ground then put a sticker on your dash board.
50 mph isn't when you want your mind racing to remember what the height is. I'm 12'10" and been under a couple of them that where less than 13'6".
I pulled into an older gas station in a pinch that wasn't posted and looked low. As I pulled in I kept going up the ladder to look and the gal came out and said yes its low, another guy busted out a row of lights the other day. I wasn't double towing at the time and backed out.
As far as bridges etc, buy the motor carriers road atlas. Since I'm double towing and diesel I try to always go to truck stops.
Google Earth/street view is very handy for planning.
This is no rule but the newer places along the main routes seem to all be fine. The low places I've run into were older more rural and old rail under passes. Its reassuring to see semi trucks on your route.