xpdf worked for me first time, try doing a search for libXpm on your hard disk, on the terminal just do
find / -name libXpm
If it does not find anything, then you’ll need to get libXpm, which I think might come as part of the Xfree86 package on the QNX repository. If it is found, then make sure the name is exactly the same, i.e. not libXpm.so.5 or something, if you’ve got a libXpm.so.(higher number), you can sometimes make a symbolic link to the older name, and it will generally work, but not all the time. If you’ve got the correct filename, make sure the directory in which the library resides is in $LD_LIBRARY_PATH. If it’s not in LD_LIBRARY_PATH, add it (in bash) by doing: