libmpegts
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Transport Stream Muxer which is spec compliant. Part of the Open Broadcast Encoder project
libmpegts README
Single Program Transport stream muxer
Things which work:
CBR and VBR TS muxing of AVC, AC-3, MP2 and AAC/HE-AAC. DVB AU_Information (Very likely MPEG-2 as well but not tested)
Things which don't work:
Blu-Ray and associated formats DTS