Altough not exactly thing you asked, you may consider to make it at two steps: using some php templating sytem (smarty, dwoo) to generate html page and then using tools like Html2Pdf convert it to pdf. I am using it, and results are good (no problems with page layout etc)
Of course it depends of your input documents (can you use html instead of PDF/ ODT as source ) and complexity of the layout of those.
