mutool

TLDR

Convert pages 1-10 into 10 PNGs

$ mutool convert -o [image%d.png] [file.pdf] [1-10]

Convert pages 2, 3 and 5 of a PDF into text in the standard output

$ mutool draw -F [txt] [file.pdf] [2,3,5]

Concatenate two PDFs

$ mutool merge -o [output.pdf] [input1.pdf] [input2.pdf]

Query information about all content embedded in a PDF

$ mutool info [input.pdf]

Extract all images, fonts and resources embedded in a PDF out into the current directory

$ mutool extract [input.pdf]

Print the outline (table of contents) of a PDF

$ mutool show [input.pdf] outline