How to view PDF in terminal using FBGS

Framebuffer Ghostscript Viewer (fbgs) can be used to view PostScript (PS) and PDF files at the terminal. However, it only works with real terminals (/dev/tty) and not with pseudo terminals (/dev/pts).

fbgs ships along with the fbi package. So, to install it:

$ sudo apt install fbi

To be enable use of the program by any user, the username must be added to video group:

$ sudo adduser joe video

To view a PDF file:

$ fbgs foo.pdf

Tried with: FBI 2.07-11 and Ubuntu 14.04