The demo version of G-Raster will convert a small section of the GeoPDF to GeoTiff format, which can then be imported directly into G-Raster's Custom Map section; registered version ($5) is currently required for full conversion. This limitation will be removed in the next release, as the GeoPDF converter has problems with some GeoPDF files (non-standard headers), and I don't want people paying for a program that doesn't always work for every GeoPDF file. An alternative to G-Raster (and for non-geo PDF files) is to convert them to image format with the free program GeoPDF creator, use Google Earth to calibrate the image and save it as a KMZ file, then "tile" it with a program like G-Raster, mapc2mapc or Global Mapper.