pdfoutline: command not found

Maybe Your $PATH variable doesn't contain the default paths? echo $PATH should give something like:

[root@server ~]# echo $PATH
/usr/local/sbin:/usr/local/bin:/sbin:/bin:/usr/sbin:/usr/bin:/root/bin

If it's empty, You may set the PATH variable with this command

export PATH="/usr/local/sbin:/usr/local/bin:/sbin:/bin:/usr/sbin:/usr/bin:/root/bin"

On CentOS possible default full paths are:

/usr/bin/pdfoutline - from package: fntsample

You may install the required package with command yum install {package}

On Debian possible default full paths are:

/usr/bin/pdfoutline - from package: fntsample

You may install the required package with command apt-get install {package}

Error in other languages:
pdfoutline: bevel nie gevind nie
pdfoutline: comandă negăsită
pdfoutline: comando não encontrado
pdfoutline: commande introuvable
pdfoutline: command not found
pdfoutline: käsku ei ole
pdfoutline: không tìm thấy lệnh
pdfoutline: komanda nerasta
pdfoutline: Kommando nicht gefunden.
pdfoutline: kommandot finns inte
pdfoutline: komut yok
pdfoutline: nie znaleziono polecenia
pdfoutline: níor aimsíodh an t-ordú
pdfoutline: no se encontró la orden
pdfoutline: no s'ha trobat l'ordre
pdfoutline: opdracht niet gevonden
pdfoutline: parancs nem található
pdfoutline: perintah tidak ditemukan
pdfoutline: príkaz nenájdený
pdfoutline: příkaz nenalezen
pdfoutline: команда не найдена
pdfoutline: командата не е открита
pdfoutline: 命令找不到
pdfoutline: コマンドが見つかりません