Okular - Multi-format document viewer (PDF, CHM, ePub, others). gv is an X front-end for the Ghostscript PostScript(TM) interpreter. Gv - an old lightweight pdf viewer with an old interface. Lightweight, but with outdated interface. Xpdf - "Xpdf is a small and efficient program which uses standard X fonts". Doesn't remember the zoom factor, or the window size/position. Block selection by dragging with the left mouse button. Keyboard-navigation, bookmarks, auto-reload on changes. Zathura - extremely fast and minimalistic (uses the MuPDF ending via a plugin system). Can't annotate, fill forms, sign, or anything else. Block selection by dragging with the right mouse button, search with /. Qpdfview (see answer) - tabbed interface, can fill forms, remembers window size and document zoom. Can fill forms, highlight text, and annotate. Evince - the default document viewer on Gnome/Ubuntu, with support for PDF, PostScript, and a few other formats.
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