It turns out ffmpeg can video-record an X server. I'm using this to capture video of a set of web browsers running tests inside Xvfb virtual frame buffers.
ffmpeg -f x11grab -s 1024x768 -r 4 -i :1 -sameq screencast.flv &
VIDEOPID=$!
xeyes # or some other X-based automated testing program
kill $VIDEOPID
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