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converts PostScript or PDF files to other vectorgraphics formats
pstoedit is a tool converting PostScript and PDF files into various other formats suported by different drawing editors. As a prerequesite it needs GhostScript to be installed (binary installation is sufficient).
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.