I would like to open all chapters of my PDF ebooks in the same window but neither evince nor okular seems to be capable of doing that (at least not out-of-the-box).
Is there a way to work this out?
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qpdfview is a lightweight tabbed document viewer that should suit your needs.
It's in the default Ubuntu and Debian repos. More recent versions can be found in the following PPAs:
Tabbed provides a "simple generic tabbed fronted to xembed aware applications" and zathura is a simple PDF viewer that is XEmbed-aware.
A much more heavyweight approach would be letting a browser provide the tabbing while having the chapters displayed using plugins, e.g. using mozplugger (even with evince) or using PDF.js (both working with Firefox).
However, were you to use a window manager that supports tabbed layouts, e.g. i3, notion or XMonad (there might be more!), any lightweight PDF-viewer (xembed'able or not) could work just fine. You'd just open several windows in a tabbed window manager layout (details vary with the actual WM) -- like @Marco suggested in his comment.
I would recommend just setting PDFs to open in Firefox (or Chrome) at this point.
Unfortunately, the GNOME Evince document viewer maintainers have made it clear they aren't going to add tabbed viewing support.