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QPDF is a C++ library and set of programs that inspect and manipulate the structure of PDF files. It can encrypt and linearize files, expose the internals of a PDF file, and do many other operations useful to end users and PDF developers.
PDF Guru is a simple in use program for merging multiple images and PDF files into a single compact PDF file.
It is capable of selecting specific PDF pages or range of pages, which lets you have more control on the output file. Be able to produce compacted, smaller sized files in any operating system.
Its features makes it a great, must have, tool for everyone.
Cross-platform command-line tool for creation of PDF documents from scans/photos of pages in JPEG (.jpg) format and the lightest weight ANSI C library to put multiple JPEG files into one PDF file.
You can add handwritten comments to PDF scans (over original images) with xournal: http://xournal.sourceforge.net/
It supports graphics tablets and saves comments to PDFs as vector data.