The lazy way I've been doing it is

1. Run dvdbackup to make a copy of the DVD on the hard drive.


2. Run DVD Shrink 3.2 under Wine on the resulting VIDEO_TS directory.


3. Use the re-author functionality to grab/split the main title, leaving out menus, extras, previews, alternate audio tracks, etc.


4. Generate an ISO image up to a DVD-5


5. Burn ISO to media using growisofs

See [link|http://mrbass.org/linux/ubuntu/dvdshrink/|http://mrbass.org/li...ubuntu/dvdshrink/] and [link|http://axljab.homelinux.org/DVD_to_DVD_-_DVDshrink|http://axljab.homeli...o_DVD_-_DVDshrink].
There's apparently a native Linux solution as well call dvrequant @ [link|https://sourceforge.net/projects/dvrequant/|https://sourceforge....ojects/dvrequant/]. Never having used it I can't say anything on its efficacy.