mutool

TLDR

Convert pages 1-10 into 10 PNGs (Note: %nd in the output placeholder must be replaced with a print modifier like %d or %2d)

$ mutool convert -o [path/to/output%nd.png] [path/to/input.pdf] [1-10]

Convert pages 2, 3 and 5 of a PDF into text in stdout

$ mutool draw -F [txt] [path/to/input.pdf] [2,3,5]

Concatenate multiple PDF files

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

Query information about all content embedded in a PDF

$ mutool info [path/to/input.pdf]

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

$ mutool extract [path/to/input.pdf]

Print the outline (table of contents) of a PDF

$ mutool show [path/to/input.pdf] outline