Convert any video to DVD

Check format of the file:

mplayer -vo dummy -ao dummy -identify your_video.avi 2>&1 | grep AUDIO_FORMAT | cut -d '=' -f 2

if format is AC3:

mencoder -oac copy -ovc lavc -of mpeg -mpegopts format=dvd:tsaf \
  -vf scale=720:576,harddup -ofps 25 \
  -lavcopts vcodec=mpeg2video:vrc_buf_size=1835:vrc_maxrate=9800:vbitrate=5000:\
keyint=15:vstrict=0:aspect=16/9 -o movie.mpg movie.avi

if not:

mencoder -oac lavc -ovc lavc -of mpeg -mpegopts format=dvd:tsaf \
  -vf scale=720:576,harddup -srate 48000 -af lavcresample=48000 \
  -lavcopts vcodec=mpeg2video:vrc_buf_size=1835:vrc_maxrate=9800:vbitrate=5000:\
keyint=15:vstrict=0:acodec=ac3:abitrate=192:aspect=16/9 -ofps 25 \
  -o movie.mpg movie.avi

create dvd structure in dvd.xml:

<dvdauthor>
  <vmgm />
    <titleset>
      <titles>
        <pgc>
          <vob file="your_video.mpg" />
        </pgc>
      </titles>
    </titleset>
</dvdauthor>

Convert to DVD:

export VIDEO_FORMAT=PAL
dvdauthor -o dvd -x dvd.xml

Burn to Disc

growisofs -dvd-compat -Z /dev/sr0 -dvd-video ./dvd/