I have had good success with using ffmpeg to write the video. I output a raw RGB stream and tell ffmpeg the width and height of the stream and ffmpeg then encodes each count of $width*$height*RGB bytes into one frame of the video. See App::VideoMixer, respectively (the source of) App::VideoMixer::Source::FFmpeg, which implements both the video reader and writer. The core of it is the following code:

my $in_width = 640;  # this depends on your input data
my $in_height = 480; # this depends on your input data
my $width = 320;     # this depends on what you want
my $height = 200;    # this depends on what you want
my $file = 'test.mpg';

my $ffmpeg = 'bin/ffmpeg.exe';
my $pixel_format = 'rgb';

my $pid = open my $output, 
               sprintf qq{| %s -y -f rawvideo -pix_fmt %s -s ${in_widt
+h}x${in_height} -i "-" -f mpeg2video -s ${width}x${height} "$file"},
               $ffmpeg, 
               $pixel_format
    );

for my $frame (@frames) {
    print $writer $frame;
};
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