xmlto 0.0.20 (already in Debian) supports docbook-xsl/fop for this. The next version (0.0.21 or maybe 0.0.22) will support the dblatex toolchain too and passivetex code will be dropped from upstream, because it is not actively maintained. More information can be found in the Debian BTS.
Alternatives are to use dblatex or docbook-xsl/fop directly.
xmlto 0.0.20 (already in Debian) supports docbook-xsl/fop for this. The next version (0.0.21 or maybe 0.0.22) will support the dblatex toolchain too and passivetex code will be dropped from upstream, because it is not actively maintained. More information can be found in the Debian BTS.
Alternatives are to use dblatex or docbook-xsl/fop directly.