there is thoggen http://thoggen.net, that should allow to transcode dvds to theora, i also used mplayer/mencoder to get the files from the dvd with a comand like that: mencoder dvd:// -ovc copy -oac copy -o tempfile.avi that will copy dvd into one avi file called tempfile.avi now you can use ffmpeg2theora to encode this file to ogg theora.
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