Seeking Free Software for Converting ISO DVD Files to MP4 with Active Chapters

I created * .ISO image files from DVD discs (camcorder recordings).
Because some discs were hard to read, I'd like to find a program to convert * .ISO files to MP4. I tried several trials but everyone had restrictions disqualifying them as an application program. (records half a movie or 15 minutes)
1. Does anyone know the Freeware program that can create an MP4 file from the ISO file with the title page and active chapters?
2. Another option would be a program creating the same output file from a DVD (some discs I would have to burn again first, so that there would be no problems with reading)
3. Another option would be a program that converts individual chapters from a DVD or ISO file to an MP4 file, or even to MPEG2. (the problem of the title page and chapters would be eliminated). Later, with Format Factory, I could convert them to MP4.

https://www.google.pl/search?ei=YPH1WayyIczp6....0...1.1.64.psy-ab..3.4.1355....0.-8DLhqAiJ38

Format Factory does not support ISO files.
I found Any Video Converter Professional (trial) - it only converts 3 minutes of film for free, reads ISO files.
I installed Any Video Converter Free. Reads ISO files. 4 hours ago, he started converting the ISO DVD file (720x576 25FPS BitRate max = 5Mbps video length 1h 45m)
to MP4 file (codec x264 720x576 25FPS BitRate max = 5Mbps 2-pass)
It is now halfway through the progress bar. The resulting file already reaches 4GB.
The full file will reach a length of 7.8GB !!!
Unless this is the first pass and only the second will compress it to a small size. But the result will be only tomorrow morning.
The fact that I do a conversion on a netbook, but I did not expect such a long time to process one disc. If the length of the resulting file does not decrease several times, then such a conversion does not make sense. The sum of the length of VOBs (MPEG2) is only 4.3GB.
And how many will be in MP4?

The Any Video Converter Free program ended its work at 7 o'clock, i.e. after 13 hours of work. The resulting file has 3.7GB (with BitRate 5Mb / s set).
Comparing the image displayed on a TV screen from a stationary DVD player and USB stick connected to the TV's USB socket, I don't see any difference, both on the freeze frame and dynamic scenes.
However, the MP4 file does not support the menu. As Col. "anmedia" wrote, the title page was saved as a video piece and is displayed for half a second without waiting for the chapter to be selected.
After finishing work, the program displayed a window with a proposal to buy the full version, which can additionally rip BlueRay discs, create and burn discs.
I don't need these functions right now. The program allows you to stay with the Free option.
What program could I cut chapters from ISO or, as a last resort, from DVD?
That would solve the case. I would have shorter movies in MPEG2 and then the conversion time to MP4 would make sense. A cover page menu would not be needed.

Freemake Video Converter - http://www.freemake.com/en/free_video_converter/
Only at the beginning, as already written, unpack this ISO, even with 7zip.
In Freemak itself you will have a '+ DVD' button. When opened, the program will show a list of chapters to rip.

I decided to give up chapters eventually.
The free Smart Ripper program cuts chapters from DVD (wholesale all or selected) to mpeg2 files (* .VOB)
Any Video Converter converts them to separate MP4 files (x264 codec) with the same settings: 720x576 25FPS Audio: AAC STEREO
On a laptop with an i5 processor it goes very smoothly.
Both programs working simultaneously use less time than if I would run them one after the other. I have already processed over 60 chapters (separate MP4) and it goes very smoothly.
Thank you colleagues for your interest and topic I close.