freemkv

freemkv is an open-source disc ripping tool for DVD, Blu-ray and
Ultra HD Blu-ray. It derives the cryptographic keys a copy-protected
disc uses (AACS), reads the video and audio streams, and writes them
to MKV, MP4 or M2TS — or to a decrypted ISO / folder.

Features:

- Rips DVD, Blu-ray and UHD Blu-ray discs.
- Preserves original quality — no re-encoding.
- Multi-pass reads recover from unreadable sectors.
- Selectable per-title audio and subtitle streams, with language filters.
- Same product on Linux, macOS and Windows.