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I know how to add bookmarks into a DjVu file:

But how do I edit existing bookmarks? Do I need to re-insert a modified bookmark file? If so, is there a way to extract the bookmarks into a text file, edit the text file, and re-insert the bookmarks into the DjVu file?

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Yes, you need to extract existing bookmarks to a file, edit it, and then set it back (old bookmarks will be overwriten):

# extract bookmarks
djvused -e "print-outline" my.djvu > bookmarks.txt

# edit bookmarks.txt

# set bookmarks back to document
djvused -s -e "set-outline bookmarks.txt" my.djvu

You may also find some GUI tools that will allow you to edit bookmarks, but basically they do the replacement under the hood.

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