plantuml -tsvg -pipe < input.pu | inkscape --pipe --export-area-drawing --export-text-to-path --export-type=pdf --export-filename=output.pdf
Found on Slashdot (didn’t note the link):
UPDATE: This was fixed in the late 0.9-series and is no longer necessary in Inkscape 1.x.
Also see https://blog.christosoft.de/2014/04/inkscape-arrowhead-color/.