Let's take a look at iText again (I know that direct PDF → RTF conversion is not supported, but read on for tingling the spine!).
Last year, we added a PDF parsing module to iText. Now this is somewhat rudimentary, but it really works and is quite easy to expand.
iText is good at creating RTF.
So ... It should be relatively simple (not easy, but simple) to parse text from PDF and create RTF based on parsing.
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