DM6467: H264 multiplexing and Quicktime support ISO 14496-Part 14 aka .MP4

I think your best bet currently would be GStreamer, though this is community supported it is the sort of multimedia framework software you would need to do this. You can find more information on it at the GForge site at https://gstreamer.ti.com/gf/project/gstreamer_ti/ note that the focus so far has been on decode applications so the video encode capability is still somewhat untested, though DM6467 has been tested for support of .MP4.