You can do it in the Adobe software for the most part, though it could/should have better controls for sure.
And IMHO Adobe s/w sux rox, so Foxit is probably a better choice, though I don't know its options.
If you're using acrobat reader --
Edit -> Preferences -> Accessibility
then [X] Replace Document Colors
then [X] Custom Color: Document Text: Black, Page Background [Grey]
is actually lower contrast, I suppose, but it's usually easier on the eyes.
You can pick something else like green on blue or white on black or whatever works for you.
Or of course
[X] use high contrast colors [color combination .....]
Of course those only work for documents that aren't just pure graphic images of pages; if there's nothing but a scanned image, you'll need to change the way the images look
which I don't think you can as easily do with Acrobat Reader.
For that you could use a system wide gamma/brightness/contrast setting; usually if you have a modestly advanced graphics card its control panel will have options to change gamma / contrast / brightness / hue. e.g. NVIDIA control panel, ATI Catalyst Control Center/Panel etc. It will affect the the whole system, but you can always change it back when you're done viewing the file.
Windows also has some built in Accessibility options under the Accessories menu in the start menu (I think)... screen magnifier, and a few other things... maybe something there could help, though I doubt it.
You can use programs like PDFTK to output the PDF pages to images or something like that that you could view with an image viewer or something.