Is there a command line program for linux that will let me read the text of PDFs? I'll willing to live with a lack of pictures.

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There are several pdf2text tools in Ubuntu. For example, the poppler-utils package contains /usr/bin/pdftotext.

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Howto Open a PDF file under Linux / FreeBSD (lower part of article give you the options you are looking for)

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pdf2txt.py from the Python project PDFMiner.

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