There exists a costly plugin PDF2ID
Don't expect wonders, as a PDF does not contain the complete INDD information, depending on how you make PDFs.
I represent Recosoft the creators of PDF2ID (http://www.recosoft.com). The cost of PDF2ID ranges from US$99.99 to US$299. It depends on the version of InDesign and whether you want PDF2ID Lite, PDF2ID Standard or PDF2ID Professional. So the cost is reasonable as we offer a tiered pricing structure. I'm listing the various price points below:
PDF2ID Lite - US$99.99
PDF2ID Standard v3.5 for InDesign CS4-CS6 US$149
PDF2ID Professional v3.5 for InDesign CS4-CS6 US$249
PDF2ID Standard v4.5 for InDesign CC (Creative Cloud edition) US$199
PDF2ID Professional v4.5 for InDesign CC (Creative Cloud edition) US$299
Please also note that PDF2ID v4.5 up to InDesign CC 2015 and not InDesign CC 2017. We're working on an update which will support InDesign CC 2017 soon.