it is as easy as:
dd if=/dev/cdrom of=~/cdrom_image.iso
in my case the dvd-drive was sr0 not cdrom.
dd if=/dev/sr0 of=/mnt/sda4/DVD/filename.iso
# to identify your dvd-drive you can use:
inxi -d; # inxi = Command line system information script for console and IRC
# show all drives
Drives: HDD Total Size: 256.1GB (60.5% used) ID-1: /dev/sda model: SanDisk_SDSSDHP2 size: 256.1GB
Optical: /dev/sr0 model: N/A dev-links: cdrom,cdrw,dvd,dvdrw
Features: speed: 62x multisession: yes audio: yes dvd: yes rw: cd-r,cd-rw,dvd-r,dvd-ram
# actually not correct, the drive can also do dvd+r
you can test-mount your filename.iso like this and check if everything is on it:
sudo bash;
mkdir /mnt/cdrom/;
mount -t iso9660 -r -o loop /mnt/sda4/DVD/filename.iso /mnt/cdrom/
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