How to create UDF images and burn them to DVD or CDROM?

Writing CDs with cdrecord and making images with genisoimage is no problem. I want to write DVDs in a similar manner, first creating an image, then burning it to disk. This is quite beneficial, since I can inspect the image before burning it to disk. Now, all I've seen, is how to use the growisofs command to burn something to DVD, but all how-to's were using ISO9660 for DVDs. But I want to burn UDF images. Before I can burn them, I need to make them, but how do I create UDF images? Also, If you could explain, or link on how to burn BluRay, that would be great, too. All tools must be command line, as I need to work with it, where GUI is no option.