Good Software/App For PDF Floor Plan Markup?

One of our main clients provides us site floor plans and RCPs in PDF format. I've been loading them into Illustrator to mark up camera locations with custom-made camera objects to show FOVs, but Illustrator is kinda overkill for that.

I've played with JVSG's IP Video System Design Tool in the past and it kinda did what I need, but at the time couldn't import PDFs, and exporting a PDF...

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