... replacing '{some-pdf-viewer}' with whatever PDF viewer works for you. There is probably one that will take the document on stdin, but I am not aware of one.
I realize I'm late to the party here, but thought is was worth posting anyway. (edited for typo)
f=$(mktemp);man -t "$@" > "$f" && ( {some-pdf-viewer} "$f" ; rm "$f" )
... replacing '{some-pdf-viewer}' with whatever PDF viewer works for you. There is probably one that will take the document on stdin, but I am not aware of one.
I realize I'm late to the party here, but thought is was worth posting anyway. (edited for typo)