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Vanilla.PDF is a modern, high-performance, open-source C++17 SDK designed for creating, editing, signing, and analyzing PDF documents across multiple platforms. It requires no external runtime dependencies, making it lightweight and ideal for embedding into desktop applications, servers, or automation pipelines. The SDK offers full cross-platform support including Windows, Linux, macOS, and Android, with builds available for major compilers and architectures. Vanilla.PDF supports advanced...

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.

pdfcrack is a command line, password recovery tool for PDF-files.

...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.