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dvd_copy

dvd_copy ships with the dvd_info package. It lets you copy a track with specific chapters from a disc to filesystem or stdout. See –help for options. There is also a man page.

Note that saving to a vob or mpg extension doesn't change the content, I'm only adding those examples as a visual indicator that that's what the formats are.

It doesn't copy VobSub subtitle tracks right now, that'd be additional functionality since they're not in the transport stream. The closed captioning subtitles are in there because it's part of the MPEG2 transport stream. You can use ccextractor to get them out.

Encoding

Here's an example of copying a DVD and encoding with ffmpeg: 

dvd_copy '/dev/sr0' -t '1' -o '-' | ffmpeg -i '-' -map '0:v' -map 'i:0x80' -vcodec 'libx264' -acodec 'copy' -y 'dvd_rip.mkv'

Trace: • dvd_copy