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 to a GIF for the background really affected quality. JVSG is kinda overkill as well, as I don't need to generate 3D views and bandwidth reports and such.

So what else are people using for this? I just need something to mark up a drawing with camera locations and rough FOVs without going back to my crayons.

Something I can use on an Android tablet would be ideal, adding and changing as I walk through a site - so far all the PDF markup apps I've tried have been clunky, confusing, or really lacking in features, and none of them let me create a template camera icon.

This is basically what we do with a printed drawing, little sticky dots, and a marker... this is what I'd like to be able to do electronically:

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