There is no reason why you couldn't create a data disc with files of any format. Do you want to recompress your files to MPEG-2 and burn a Video DVD? MkvExtract together with MkvExtractGUI can be used to permanently split Matroska (mkv) container into elementary streams: audio, video and subtitles.
Although VirtualDubMod will be able to demultiplex audio from any file, it is not able to handle H.264/AVC video in its native format.
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