Yeap. Spent the day experimenting and the only "good" way to do it is (AFAIK!):
(assuming that your dvd-r drive is /dev/dvd)
$ mkdir /tmp/dvdbackup
for the dvd dump
$ mkdir /tmp/mount
for mounting the dvd
$ dvdbackup -M -i /dev/dvd -o /tmp/dvdbackup
Let's rip the movie (-M takes a full copy (menus etc), -F grabs just the movie)
$ mount -t udf /dev/dvd /tmp/mount/
We need to mount the dvd for grabbing some IFO-files.
$ cp -i /tpm/mount/VIDEO_TS/*.IFO mount/VIDEO_TS/VIDEO_TS* dvdbackup/<something>/VIDEO_TS/
You need to change the something to whatever it is
Also, make sure to answer NO to any query for overwriting something.
$ mkisofs -dvd-video -v -o image.udf /tmp/dvdbackup/
Almost done, let's make a image we can burn to dvd-r..
$ growisofs -dvd-compat -Z /dev/dvd=image.udf
And finally, let's burn the bastard.
Dunno, works for me