I am dubbing some footage over to dvd-r on my standalone Pioneer DVR 7000 unit....I would like to build some menus for the discs if possible.

Is it possible to rip the dvd-r footage created with my Pioneer, to my harddrive from my "internal dvd player" on the computer...Once there can I build menus with something like dvdit! I would like to obtain the highest quality possible...

Or, does anyone have a suggestion on how I can build "specific" menus in another manner ?

Thanks for any assistance!