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If you have opencv compiled with gstreamer you can try a gstreamer pipeline like the following (not tested, approximately what you would need to do):
std::string pipeline = "appsrc ! videoconvert ! avenc_h264 ! matroskamux ! filesink location=test.mp4";
cv::VideoWriter cam(pipeline);
cam << image;
Quick explanation of what's going on. VideoWriter can be constructed with a gstreamer pipeline string that will use the gstreamer backend for encoding and muxing your file. The pipeline consists of the following elements:
appsrc <-- entrance of the opencv mat into the gstreamer pipeline
videoconver <--- convert rgb8 packed raw image into YUV for encoding
avenc_h264 <---- encode the video into an h264 format
matroskamux <---- mux the video into an mp4 compatible format
filesink <---- save to disk
I can verify and update when I get to my desktop.