Extract audio from DVD

There are 2 methods:
# mplayer vcd://04 -cdrom-device /dev/sr0 -dumpaudio -dumpfile /tmp/track04.mp3 <enter>
# transcode -i /dev/dvd -x dvd -T 1,-1 -a 0 -y wav -m track01.wav <enter>
# bladeenc -256 -rawfreq=48000 track01.wav track01.mp3 <enter>