On ubuntu systems, you’ll need the following packages: genisoimage and dvd+rw-tools.

If you have a folder named “mydvd” in your home directory containing a VIDEO_TS folder, cd to your home folder mydvd, then run:

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mkisofs -dvd-video -o mydvd.iso mydvd

This will produce a mydvd.iso file. To verify, run

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isoinfo -l -i mydvd.iso