You can use jpdfbookmarks by command line to extract or insert bookmarks in a pdf.  To launch the application in command line mode you must use the appropriate method for your system and the append the arguments described in the following sections, consult the Installation Instructions section to understand which is the appropriate way for you. I will refer to the launch command with jpdfbookmarks in these instructions but consider that maybe you have to substitute it with  jpdfbokkmarks_cli.exe , java -jar jpdfbookmarks.jar or with ./jpdfbookmarks for example.
To print a help message in a terminal use the command: