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Heathen (aka heathen infidel) is something people (christians maybe?) call other people that have different (religious) views that they don't agree with.
It's a derogatory word. There may be other definitions, but that's my understanding of it.
As opposed to pagans, that are polytheistic. "Pagan" isn't derogatory, or it shouldn't be anyway.
I don't know if heathen was originally a offensive word or if it just gained negative connotations through the years. In general, I try and use the terms that individuals in the group prefer.