One of the best ways to prevent losing quality from concatenating files is to transcode them to mpeg transport streams, using H.264 video and AAC audio -
$ ffmpeg -i input1.mp4 -c copy -bsf:v h264_mp4toannexb -f mpegts new1.ts
$ ffmpeg -i input2.mp4 -c copy -bsf:v h264_mp4toannexb -f mpegts new2.ts
then
$ ffmpeg -i "concat:new1.ts|new2.ts" -c copy -bsf:a aac_adtstoasc output.mp4
Notes:
- In this example I use only 2 mp4 files converted to streams and then concatenating them, but you can
put as much as you like that your system can handle
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