Download poweriso from http://poweriso.com/download.htm. If you are using linux, the download is a tarball. I extracted the one and only file from the tarball (poweriso).

Sample commands:

List contents:
poweriso list /path-to-daa-file /

List contents recursively:
poweriso list /path-to-daa-file / -r

Extract:
poweriso extract /path-to-daa-file / -od /path-to-destination-directory

Convert:
poweriso convert /path-to-daa-file -o /path-to-destination-iso-file -ot iso