对于MP4文件：

如果它们不完全相同（100%相同的编解码器、相同的分辨率、相同的类型）MP4文件，则必须首先将它们转换为中间流：

ffmpeg -i myfile1.mp4 -c copy -bsf:v h264_mp4toannexb -f mpegts temp1.ts
ffmpeg -i myfile2.mp4 -c copy -bsf:v h264_mp4toannexb -f mpegts temp2.ts
// now join
ffmpeg -i "concat:temp1.ts|temp2.ts" -c copy -bsf:a aac_adtstoasc output.mp4

注意！：输出将类似于第一个文件（而不是第二个文件）

对于.mp4文件，我发现使用开源命令行工具mp4box工作得更好更快。然后你可以这样使用它：

mp4box.exe -add video1.mp4 -cat video2.mp4 destvideo.mp4

对于大多数平台，请在此处下载：https://gpac.wp.imt.fr/mp4box/

这里是我制作的一个脚本，将几个GoPro mp4连接成720p mp4。希望能有所帮助。

#!/bin/sh
cmd="( "
for i; do
    cmd="${cmd}ffmpeg -i $i -ab 256000 -vb 10000000 -mbd rd -trellis 2 -cmp 2 -subcmp 2 -g 100 -f mpeg -; "
done
cmd="${cmd} ) | ffmpeg -i - -vb 10000000 -ab 256000 -s 1280x720 -y out-`date +%F-%H%M.%S`.mp4"
echo "${cmd}"
eval ${cmd}

经过多次尝试后，以下脚本在windows 10 powershell上对我有效。

    $files=Get-ChildItem -path e:\ -Filter *.mp4


    $files| ForEach-Object  {"file '$($_.FullName)'"}| Out-File -FilePath e:\temp.txt -Encoding ASCII


    if (-not (test-path "e:\ffmpeg\bin\ffmpeg.exe")) {throw "e:\ffmpeg\bin\ffmpeg.exe needed"}

    E:\ffmpeg\bin\ffmpeg.exe -safe 0 -f concat -i "e:\temp.txt" -c copy -bsf:v hevc_mp4toannexb -an e:\joined.mp4

    # Conversion Cleanup
    Remove-Item e:\temp.txt

这里，前两行创建一个文本文件temp.txt，其中包含以下内容

file 'e:\first.mp4'
file 'e:\second.mp4'

第三、第四行检查ffmpeg在路径上是否可用，并创建“joind.mp4”

与其他答案的主要区别如下

usage  of -bsf:v hevc_mp4toannexb -an

对于我上面的mp4文件，您可能需要根据您的视频编码使用以下其他选项。

h264_mp4toannexb

所有这些可能的比特流过滤器都可以在https://ffmpeg.org/ffmpeg-bitstream-filters.html

关于ffmpeg中各种连接方式的详细文档可以在这里找到。

您可以使用“Concat filter”进行快速连接。

它执行重新编码。当输入具有不同的视频/音频格式时，此选项最佳。

对于合并2个文件：

ffmpeg -i input1.mp4 -i input2.webm \
-filter_complex "[0:v:0] [0:a:0] [1:v:0] [1:a:0] concat=n=2:v=1:a=1 [v] [a]" \
-map "[v]" -map "[a]" output.mp4

对于连接3个文件：

ffmpeg -i input1.mp4 -i input2.webm -i input3.mp4 \
-filter_complex "[0:v:0] [0:a:0] [1:v:0] [1:a:0] [2:v:0] [2:a:0] concat=n=3:v=1:a=1 [v] [a]" \
-map "[v]" -map "[a]" output.mp4

这适用于相同的以及多种输入文件类型。

如果您更喜欢rogerdpack答案中的方法#2，但不想使用管道（例如，您只想在C中使用execv）或不想创建额外的文件（list.txt），那么只需将concat demuxer与数据和文件协议相结合，即FFmpeg允许您像HTML一样内联输入文件：

<img src="data:image/png;base64,..." alt="" />

ffmpeg -i 'data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAB4AAAAQ4AQAAAADAqPzuAAABEklEQVR4Ae3BAQ0AAADCIPunfg8HDAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA4FT45QABPFL5RwAAAABJRU5ErkJggg==' /tmp/blackbg.mp4

下面是我的程序（放在/usr/bin/ffcont中），它自动内联“包含文件路径列表的文件”。此外，与所有其他答案不同，您可以使用任何FFmpeg选项。

如果您使用的不是bash语言（C，Node.js），那么只需查看用法（）和最后一行。

#!/bin/bash
# ffconcat v0.3
# @author Arzet Ro, 2021 <arzeth0@gmail.com>
# @license CC-0 (Public Domain)

function usage ()
{
    echo "\
ffconcat's usage:
    ffconcat (anyFfmpegInputOptions) -i /tmp/a.mp4 -i ... -i ... /tmp/out.mp4 (anyFfmpegOutputOptions)
    ffconcat -vn /tmp/a.mp4 /tmp/b.opus /tmp/out.mp4 -y
    ffconcat -http -i https://a/h264@720p@25fps+opus.mp4 -i ftp://127.0.0.1/h264@720p@30fps+opus.mp4 -i /tmp/c.opus /tmp/out.mkv
    ffconcat -http -i https://a/vp9@1080p@30fps+opus.mp4 -i ftp://127.0.0.1/vp9@720p@30fps+opus.mp4 -i /tmp/c.opus /tmp/out.mp4
    WARNING: ffconcat uses `concat` demuxer; when
    using both this demuxer AND -y, FFmpeg doesn't check if
    an input file and output file
    are the same file, so your 100 GB input file
    could immediately become 10 KB.
    ffconcat checks that only when neither -i
    nor new FFmpeg release's boolean args (see valuelessFfmpegArgs in the code)
    are specified.

    ffmpeg has no -http.
    ffconcat has -http because ffmpeg automatically
    sets allowed protocols depending on -f and -i.
    But when -f concat, ffmpeg doesn't know what to do with -i.

    ffmpeg and mpv support VP9+Opus in .mp4
    Only one video codec is possible in an output file.
    You can't have both AAC and Opus in one .mp4 (not sure about other containers).
    If you combine VP9 videos, then make sure they have the same FPS.
    If you combine H264 videos of different resolutions,
    then you get A/V desync
    and also either
    1) the start of video streams after the first video stream are cut
    2) or video player freezes for 5 seconds when switching between video streams.
    Also it seems if DAR (display aspect ratio) differs (at least in H.264)
    then incorrect (5x longer) duration is estimated
    and mpv displays the second video with 1 FPS.
    You can see the info about an input file
    with
    mediainfo file.mp4
    or
    ffprobe -hide_banner -protocol_whitelist file,rtp,udp -show_streams file.mp4"
}

# Configuration [begin]
forceRequireIArgumentForInputFiles=0
# Configuration [end]




in_array ()
{
    local e match="$1"
    shift
    for e; do [[ "$e" == "$match" ]] && return 0; done
    return 1
}

if [[ "$#" == 0 ]]
then
    usage
    exit
fi

requireIArgumentForInputFiles=0
if in_array "--help" "$@"
then
    usage
    exit
elif in_array "-help" "$@"
then
    usage
    exit
elif in_array "-i" "$@"
then
    requireIArgumentForInputFiles=1
elif [[ "$forceRequireIArgumentForInputFiles" == "1" ]]
then
    >&2 echo "forceRequireIArgumentForInputFiles=1, so you need -i"
    usage
    exit 1
fi




NL=$'\n'
inputOptions=()
outputOptions=()
inputFilesRawArray=()
outputFile=""

declare -a valuelessFfmpegArgs=("-http"     "-hide_banner" "-dn" "-n" "-y" "-vn" "-an" "-autorotate" "-noautorotate" "-autoscale" "-noautoscale" "-stats" "-nostats" "-stdin" "-nostdin" "-ilme" "-vstats" "-psnr" "-qphist" "-hwaccels" "-sn" "-fix_sub_duration" "-ignore_unknown" "-copy_unknown" "-benchmark" "-benchmark_all" "-dump" "-hex" "-re" "-copyts" "-start_at_zero" "-shortest" "-accurate_seek" "-noaccurate_seek" "-seek_timestamp"     "write_id3v2" "write_apetag" "write_mpeg2" "ignore_loop" "skip_rate_check" "no_resync_search" "export_xmp")
#^ used when requireIArgumentForInputFiles=0
# TODO: fill all the args
# grep -C 3 AV_OPT_TYPE_BOOL libavformat/ libavcodec/
# grep -C 3 OPT_BOOL fftools/
# Unfortunately, unlike MPV, FFmpeg neither
# requires nor supports `=`, i.e. `--y --i=file.mp4'
# instead of `-y -i file.mp4`.
# Which means it's unclear whether an argument
# is a value of an argument or an input/output file.

areFfmpegArgsAllowed=1
isHttpMode=0

if in_array "-http" "$@"
then
    isHttpMode=1
fi


# if an argument is not a boolean argument, then what key needs a value
secondArgumentIsWantedByThisFirstArgument=""
# if requireIArgumentForInputFiles=1
# then secondArgumentIsWantedByThisFirstArgument must be either "" or "-i"
isCurrentArgumentI=0
localRawFilesArray=()
outputFile=""
for arg in "$@"
do
    if [[
        "$secondArgumentIsWantedByThisFirstArgument" == ""
        &&
        "$arg" == "-http"
    ]]
    then
        continue
    fi
    if [[ "$arg" == "--" ]]
    then
        areFfmpegArgsAllowed=0
        continue
    fi
    if [[
        (
            "$areFfmpegArgsAllowed" == "1"
            ||
            "$secondArgumentIsWantedByThisFirstArgument" != ""
        )
        && !(
            "$requireIArgumentForInputFiles" == "1"
            &&
            "$secondArgumentIsWantedByThisFirstArgument" == "-i"
        )
        &&
        (
            "$secondArgumentIsWantedByThisFirstArgument" != ""
            ||
            (
                "$requireIArgumentForInputFiles" == "0"
                &&
                "$arg" = -*
            )
            ||
            (
                "$requireIArgumentForInputFiles" == "1"
            )
        )
    ]]
    then
        if [[ !(
            "$requireIArgumentForInputFiles" == "1"
            &&
            "$arg" == "-i"
        ) ]]
        then
            if (( ${#inputFilesRawArray[@]} == 0 ))
            then
                inputOptions+=("$arg")
            else
                outputOptions+=("$arg")
            fi
        fi
    elif [[
        "$requireIArgumentForInputFiles" == "0"
        ||
        "$secondArgumentIsWantedByThisFirstArgument" == "-i"
    ]]
    then
        if echo -n "$arg" | egrep '^(https?|ftp)://'
        then
            inputFilesRawArray+=("$arg")
            localRawFilesArray+=("$arg")
        else
            tmp=`echo -n "$arg" | sed 's@^file:@@'`
            localRawFilesArray+=("$tmp")
            if [[ "$secondArgumentIsWantedByThisFirstArgument" == "-i" ]]
            then
                if ! ls -1d -- "$tmp" >/dev/null 2>/dev/null
                then
                    >&2 echo "Input file '$tmp' not found"
                    exit 1
                fi
            fi
            tmp=`echo -n "$tmp" | sed -E 's@(\s|\\\\)@\\\\\1@g' | sed "s@'@\\\\\'@g"`
            # ^ FIXME: does it work for all filenames?
            inputFilesRawArray+=("file:$tmp")
        fi
    elif [[
        "$requireIArgumentForInputFiles" == "1"
        &&
        "$secondArgumentIsWantedByThisFirstArgument" != "-i"
    ]]
    then
        if echo -n "$arg" | egrep '^(https?|ftp)://'
        then
            outputFile="$arg"
        else
            outputFile=`echo -n "$arg" | sed 's@^file:@@'`
            outputFile="file:$outputFile"
        fi
    else
        usage
        exit 1
    fi
    if [[
        "$secondArgumentIsWantedByThisFirstArgument" != ""
        ||
        "$areFfmpegArgsAllowed" == "0"
    ]]
    then
        secondArgumentIsWantedByThisFirstArgument=""
    else
        if [[ "$requireIArgumentForInputFiles" == "1" && "$arg" == "-i" ]]
        then
            secondArgumentIsWantedByThisFirstArgument="$arg"
        elif [[ "$requireIArgumentForInputFiles" == "0" && "$arg" = -* ]]
        then
            if ! in_array "$arg" ${valuelessFfmpegArgs[@]}
            then
                secondArgumentIsWantedByThisFirstArgument="$arg"
            fi
        fi
    fi
done
if [[
    "$requireIArgumentForInputFiles" == "0"
    &&
    "$outputFile" == ""
]]
then
    outputFile="${localRawFilesArray[((${#localRawFilesArray[@]}-1))]}"
fi
actualOutputFile="$outputFile"
if [[ "$requireIArgumentForInputFiles" == "0" || "file:" =~ ^"$outputFile"* ]]
then
    actualOutputFile=`echo -n "$actualOutputFile" | sed 's@^file:@@'`
    actualOutputFile=`readlink -nf -- "$actualOutputFile"`
fi

if [[ "$requireIArgumentForInputFiles" == "0" ]]
then
    unset 'inputFilesRawArray[((${#inputFilesRawArray[@]}-1))]'
    unset 'localRawFilesArray[((${#localRawFilesArray[@]}-1))]'
    outputOptions+=("$outputFile")
fi

#>&2 echo Input: ${inputFilesRawArray[@]}
#if [[ "$requireIArgumentForInputFiles" == "0" ]]
#then
#   >&2 echo Output: $outputFile
#fi


if (( ${#inputFilesRawArray[@]} < 2 ))
then
    >&2 echo "Error: Minimum 2 input files required, ${#inputFilesRawArray[@]} given."
    >&2 echo Input: ${inputFilesRawArray[@]}
    if [[ "$requireIArgumentForInputFiles" == "0" ]]
    then
        >&2 echo Output: $outputFile
    fi
    usage
    #outputFile=/dev/null
    exit 1
fi
if [[
    "$requireIArgumentForInputFiles" == "0"
    &&
    "$outputFile" == ""
]]
then
    >&2 echo "Error: No output file specified."
    usage
    exit 1
fi


ffmpegInputList=""
firstFileDone=0
inputFilesRawArrayLength=${#inputFilesRawArray[@]}

for (( i = 0; i < inputFilesRawArrayLength; i++ ))
do
    lf="${localRawFilesArray[$i]}"
    f="${inputFilesRawArray[$i]}"
    if [[ "${inputFilesRawArray[$i]}" =~ ^file: ]]
    then
        actualF=`readlink -nf -- "$lf"`
        if [[ "$actualF" == "$actualOutputFile" ]]
        then
            >&2 echo "Error: The same file '$actualF' is used both as an input file and an output file"
            exit 1
        fi
    fi
    if [[ "$firstFileDone" == "1" ]]
    then
        ffmpegInputList+="$NL"
    fi
    ffmpegInputList+="file $f"
    firstFileDone=1
done

protocol_whitelist_appendage=""
if [[ "$isHttpMode" == "1" ]]
then
    protocol_whitelist_appendage=",ftp,http,https"
fi


# Also print the final line:
set -x

ffmpeg \
-safe 0 \
-f concat \
-protocol_whitelist data,file"$protocol_whitelist_appendage" \
"${inputOptions[@]}" \
-i "data:text/plain;charset=UTF-8,${ffmpegInputList}" \
-c copy \
"${outputOptions[@]}"
# $ffmpegInputList is
# file file:./test.mp4\nfile file:/home/aaa.mp4\nfile http://a/b.aac
# All whitespace and ' in ffmpegInputList are escaped with `\`.

与HTML不同，-i中不需要百分比编码（JavaScript的encodeURI/encodeURIComponent）（%20等）。