Since API Level 21 (Lollipop) Android provides a PdfRenderer class:
// Make a new renderer
PdfRenderer renderer = new PdfRenderer(getSeekableFileDescriptor());
// let us just render all pages
final int pageCount = renderer.getPageCount();
for (int i = 0; i < pageCount; i++) {
Page page = renderer.openPage(i);
// say we render for showing on the screen
page.render(mBitmap, null, null, Page.RENDER_MODE_FOR_DISPLAY);
// do stuff with the bitmap
// close the page
page.close();
}
// close the renderer
renderer.close();
For added erudition check the sample app.
For older APIs I promote Android PdfViewer library, it is pretty fast and easy to apply, authorized under Apache License 2.0:
pdfView.fromAsset(String)
.pages(0, 2, 1, 3, 3, 3) // all pages are displayed by default
.enableSwipe(true)
.swipeHorizontal(false)
.enableDoubletap(true)
.defaultPage(0)
.onDraw(onDrawListener)
.onLoad(onLoadCompleteListener)
.onPageChange(onPageChangeListener)
.onPageScroll(onPageScrollListener)
.onError(onErrorListener)
.enableAnnotationRendering(false)
.password(null)
.scrollHandle(null)
.load();