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Starting with version 20.0, Oxygen XML Author Eclipse plugin provides built-in support for rendering PDF images in Author mode and PDF output. For previous versions, they are not rendered by default and you need to add the Apache PDFBox library:

Manually Adding the ApachePDFBox Libraries

To manually add the Apache PDFBox library so that PDF images are rendered in Author mode, follow this procedure:
  1. Go to http://pdfbox.apache.org/downloads.html and download the pre-built PDFBox standalone binary JAR files: pdfbox-2.0.3.jar, fontbox-2.0.3.jar, and xmpbox-2.0.3.jar. Alternatively, you can use the 1.8.12 version of these files, as they have been tested and work properly.
    Note: It is not recommended to use pdfbox-app-2.0.3.jar file instead of the three specified files because it contains additional classes that may cause conflicts elsewhere in Oxygen XML Author Eclipse plugin.
  2. Create a subfolder called pdfImageJars in the [OXYGEN_INSTALL_DIR]\lib directory.
  3. Copy the downloaded JAR libraries to that newly created subfolder.
  4. Open OXYGEN_PLUGIN_DIR/META-INF/MANIFEST.MF and add a reference to the JAR libraries in the Bundle-ClassPath entry.
  5. Restart Eclipse in clean mode (edit the shortcut you use to start Eclipse and add -clean as the first argument.)