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I am looking to fill out a PDF form just like I can with Adobe Acrobat typewriter tool. The PDF forms don't necessarily have form fields, so I really just need to be able to place text on.

I've used Xournal to annotate PDFs and it works well until I need to place an image stamp on the form.

PDFedit seems to be geared toward editing the PDF as opposed to superimposing text and image.

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You need a PDF viewer that supports forms. On Linux, those are somewhat limited. You can try Evince with forms support (evince-forms) or you could always download the Linux version of Adobe Acrobat Reader. PDF forms support is limited even on Windows-based non-Adobe viewers.

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I don't necessarily want to fill form fields (though that is nice too) I want to fill out forms whose authors did not place form fields. In which case, I'm just typing over the document. I also need to stamp a signature. –  Gus May 19 '11 at 18:39
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The answer to your question is Xournal. It supports a typewriter-like overlay of the PDF. http://xournal.sourceforge.net/

Unlike Adobe Acrobat, the text isn't manipulable after you place it, so you have to take more care of getting it lined out. I've also read that it works by converting the PDF to an image, overlying the graphics, then exporting as a PDF. This can lose some quailly.

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Acroread is the Linux release of Adobe Reader it allows you to view, navigate, fill-in, and, print .pdf files.

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