Well, T2Sami worked great for adding closed captions to tivo compatible mpegs before transferring to the tivo.
But mkv's are a little more challenging. The subtitle extract from my test mkv using mkvextractgui did not appear to be usable.
mkv2vob was able to transcode to an mpeg with the subs burned in. But it does not create compliant mpegs meaning tivo would probably reject them unless they are transcoded again by pytivo. A transcode could be forced by lowering max_audio_br. Or you could convert to an avi with mkv2vob instead of mpg.
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