Audio problem when concatenating MP4 videos

Question

I want to concatenate some mp4 videos but coundn't manage to solve the audio problems.

Here are sample videos, to be concatenated, in this order: 1, 2 and 3. A concat.txtis also supplied. 2.mp4 is a fragment of a larger video and was reencoded (not just cut).

None of my attempts worked. Most of them lead to gaps in the audio, some change the pitch of the voice. There's clearly a DTS issue I just don't know how to deal with.

Sometimes there are more than three videos to put together.

What I tried so far:

• The most obvious: fmpeg -f concat -safe 0 -i concat.txt -c copy out.mp4. This complains a lot (non-monotonous DTS). Very poor result.
• Re-encoding video and audio: ffmpeg -f concat -safe 0 -i concat.txt -c:v libx264 -c:a aac out.mp4. Same poor result in a time consuming task. Using copy to avoid re-encoding just audio or just video leads nowhere.
• Running away from mp4: I converted all files to avi and to ts thinking that that could be an mp4 issue. Bad results with avi and slightly better results with ts. Nothing good, though.
• I tried playing with -video_track_timescale. No success.

I actually don't care about re-encoding the video, since the original has not a great quality already. But the audio issue must be solved.

I also hope for a generic solution, since I have many videos to handle and I wish to use just a script. Adjusting parameters for every single case would be a burden.

Using ffmpeg version 4.3.3 and Debian 11.

$ ffmpeg -version
ffmpeg version 4.3.3-0+deb11u1 Copyright (c) 2000-2021 the FFmpeg developers
built with gcc 10 (Debian 10.2.1-6)
configuration: --prefix=/usr --extra-version=0+deb11u1 --toolchain=hardened --libdir=/usr/lib/x86_64-linux-gnu --incdir=/usr/include/x86_64-linux-gnu --arch=amd64 --enable-gpl --disable-stripping --enable-avresample --disable-filter=resample --enable-gnutls --enable-ladspa --enable-libaom --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libcodec2 --enable-libdav1d --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libgme --enable-libgsm --enable-libjack --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librabbitmq --enable-librsvg --enable-librubberband --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libsrt --enable-libssh --enable-libtheora --enable-libtwolame --enable-libvidstab --enable-libvorbis --enable-libvpx --enable-libwavpack --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzmq --enable-libzvbi --enable-lv2 --enable-omx --enable-openal --enable-opencl --enable-opengl --enable-sdl2 --enable-pocketsphinx --enable-libmfx --enable-libdc1394 --enable-libdrm --enable-libiec61883 --enable-chromaprint --enable-frei0r --enable-libx264 --enable-shared
libavutil      56. 51.100 / 56. 51.100
libavcodec     58. 91.100 / 58. 91.100
libavformat    58. 45.100 / 58. 45.100
libavdevice    58. 10.100 / 58. 10.100
libavfilter     7. 85.100 /  7. 85.100
libavresample   4.  0.  0 /  4.  0.  0
libswscale      5.  7.100 /  5.  7.100
libswresample   3.  7.100 /  3.  7.100
libpostproc    55.  7.100 / 55.  7.100

Edit

Here are the ffprobe results for each input file:

$ for i in [123].mp4; do echo; echo "------------ $i"; ffprobe $i; done

------------ 1.mp4
ffprobe version 4.3.3-0+deb11u1 Copyright (c) 2007-2021 the FFmpeg developers
  built with gcc 10 (Debian 10.2.1-6)
  configuration: --prefix=/usr --extra-version=0+deb11u1 --toolchain=hardened --libdir=/usr/lib/x86_64-linux-gnu --incdir=/usr/include/x86_64-linux-gnu --arch=amd64 --enable-gpl --disable-stripping --enable-avresample --disable-filter=resample --enable-gnutls --enable-ladspa --enable-libaom --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libcodec2 --enable-libdav1d --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libgme --enable-libgsm --enable-libjack --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librabbitmq --enable-librsvg --enable-librubberband --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libsrt --enable-libssh --enable-libtheora --enable-libtwolame --enable-libvidstab --enable-libvorbis --enable-libvpx --enable-libwavpack --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzmq --enable-libzvbi --enable-lv2 --enable-omx --enable-openal --enable-opencl --enable-opengl --enable-sdl2 --enable-pocketsphinx --enable-libmfx --enable-libdc1394 --enable-libdrm --enable-libiec61883 --enable-chromaprint --enable-frei0r --enable-libx264 --enable-shared
  libavutil      56. 51.100 / 56. 51.100
  libavcodec     58. 91.100 / 58. 91.100
  libavformat    58. 45.100 / 58. 45.100
  libavdevice    58. 10.100 / 58. 10.100
  libavfilter     7. 85.100 /  7. 85.100
  libavresample   4.  0.  0 /  4.  0.  0
  libswscale      5.  7.100 /  5.  7.100
  libswresample   3.  7.100 /  3.  7.100
  libpostproc    55.  7.100 / 55.  7.100
Input #0, mov,mp4,m4a,3gp,3g2,mj2, from '1.mp4':
  Metadata:
    major_brand     : isom
    minor_version   : 512
    compatible_brands: isomiso2avc1mp41
    encoder         : Lavf58.45.100
  Duration: 00:00:09.00, start: 0.040000, bitrate: 8842 kb/s
    Stream #0:0(und): Video: h264 (High) (avc1 / 0x31637661), yuv420p, 1280x720, 8669 kb/s, 25.11 fps, 25 tbr, 12800 tbn, 50 tbc (default)
    Metadata:
      handler_name    : VideoHandler
    Stream #0:1(und): Audio: aac (LC) (mp4a / 0x6134706D), 48000 Hz, stereo, fltp, 167 kb/s (default)
    Metadata:
      handler_name    : SoundHandler

------------ 2.mp4
ffprobe version 4.3.3-0+deb11u1 Copyright (c) 2007-2021 the FFmpeg developers
  built with gcc 10 (Debian 10.2.1-6)
  configuration: --prefix=/usr --extra-version=0+deb11u1 --toolchain=hardened --libdir=/usr/lib/x86_64-linux-gnu --incdir=/usr/include/x86_64-linux-gnu --arch=amd64 --enable-gpl --disable-stripping --enable-avresample --disable-filter=resample --enable-gnutls --enable-ladspa --enable-libaom --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libcodec2 --enable-libdav1d --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libgme --enable-libgsm --enable-libjack --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librabbitmq --enable-librsvg --enable-librubberband --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libsrt --enable-libssh --enable-libtheora --enable-libtwolame --enable-libvidstab --enable-libvorbis --enable-libvpx --enable-libwavpack --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzmq --enable-libzvbi --enable-lv2 --enable-omx --enable-openal --enable-opencl --enable-opengl --enable-sdl2 --enable-pocketsphinx --enable-libmfx --enable-libdc1394 --enable-libdrm --enable-libiec61883 --enable-chromaprint --enable-frei0r --enable-libx264 --enable-shared
  libavutil      56. 51.100 / 56. 51.100
  libavcodec     58. 91.100 / 58. 91.100
  libavformat    58. 45.100 / 58. 45.100
  libavdevice    58. 10.100 / 58. 10.100
  libavfilter     7. 85.100 /  7. 85.100
  libavresample   4.  0.  0 /  4.  0.  0
  libswscale      5.  7.100 /  5.  7.100
  libswresample   3.  7.100 /  3.  7.100
  libpostproc    55.  7.100 / 55.  7.100
Input #0, mov,mp4,m4a,3gp,3g2,mj2, from '2.mp4':
  Metadata:
    major_brand     : isom
    minor_version   : 512
    compatible_brands: isomiso2avc1mp41
    encoder         : Lavf58.45.100
  Duration: 00:07:24.45, start: 0.000000, bitrate: 219 kb/s
    Stream #0:0(und): Video: h264 (High) (avc1 / 0x31637661), yuv420p, 1280x720 [SAR 1:1 DAR 16:9], 81 kb/s, 25 fps, 30 tbr, 115200 tbn, 50 tbc (default)
    Metadata:
      handler_name    : ISO Media file produced by Google Inc. Created on: 10/11/2020.
    Stream #0:1(und): Audio: aac (LC) (mp4a / 0x6134706D), 44100 Hz, stereo, fltp, 129 kb/s (default)
    Metadata:
      handler_name    : ISO Media file produced by Google Inc. Created on: 10/11/2020.

------------ 3.mp4
ffprobe version 4.3.3-0+deb11u1 Copyright (c) 2007-2021 the FFmpeg developers
  built with gcc 10 (Debian 10.2.1-6)
  configuration: --prefix=/usr --extra-version=0+deb11u1 --toolchain=hardened --libdir=/usr/lib/x86_64-linux-gnu --incdir=/usr/include/x86_64-linux-gnu --arch=amd64 --enable-gpl --disable-stripping --enable-avresample --disable-filter=resample --enable-gnutls --enable-ladspa --enable-libaom --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libcodec2 --enable-libdav1d --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libgme --enable-libgsm --enable-libjack --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librabbitmq --enable-librsvg --enable-librubberband --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libsrt --enable-libssh --enable-libtheora --enable-libtwolame --enable-libvidstab --enable-libvorbis --enable-libvpx --enable-libwavpack --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzmq --enable-libzvbi --enable-lv2 --enable-omx --enable-openal --enable-opencl --enable-opengl --enable-sdl2 --enable-pocketsphinx --enable-libmfx --enable-libdc1394 --enable-libdrm --enable-libiec61883 --enable-chromaprint --enable-frei0r --enable-libx264 --enable-shared
  libavutil      56. 51.100 / 56. 51.100
  libavcodec     58. 91.100 / 58. 91.100
  libavformat    58. 45.100 / 58. 45.100
  libavdevice    58. 10.100 / 58. 10.100
  libavfilter     7. 85.100 /  7. 85.100
  libavresample   4.  0.  0 /  4.  0.  0
  libswscale      5.  7.100 /  5.  7.100
  libswresample   3.  7.100 /  3.  7.100
  libpostproc    55.  7.100 / 55.  7.100
Input #0, mov,mp4,m4a,3gp,3g2,mj2, from '3.mp4':
  Metadata:
    major_brand     : isom
    minor_version   : 512
    compatible_brands: isomiso2avc1mp41
    encoder         : Lavf58.45.100
  Duration: 00:00:18.58, start: 0.040000, bitrate: 314 kb/s
    Stream #0:0(und): Video: h264 (High) (avc1 / 0x31637661), yuv420p, 1280x720, 213 kb/s, 25.05 fps, 25 tbr, 12800 tbn, 50 tbc (default)
    Metadata:
      handler_name    : VideoHandler
    Stream #0:1(und): Audio: aac (LC) (mp4a / 0x6134706D), 48000 Hz, stereo, fltp, 96 kb/s (default)
    Metadata:
      handler_name    : SoundHandler