FFmpeg has three concatenation methods:

1. concat video filter

Use this method if your inputs do not have the same parameters (width, height, etc), or are not the same formats/codecs, or if you want to perform any filtering.

Note that this method performs a re-encode of all inputs. If you want to avoid the re-encode, you could re-encode just the inputs that don't match so they share the same codec and other parameters, then use the concat demuxer to avoid re-encoding everything.

ffmpeg -i opening.mkv -i episode.mkv -i ending.mkv \
-filter_complex "[0:v] [0:a] [1:v] [1:a] [2:v] [2:a] \
concat=n=3:v=1:a=1 [v] [a]" \
-map "[v]" -map "[a]" output.mkv

2. concat demuxer

Use this method when you want to avoid a re-encode and your format does not support file-level concatenation (most files used by general users do not support file-level concatenation).

$ cat mylist.txt
file '/path/to/file1'
file '/path/to/file2'
file '/path/to/file3'
    
$ ffmpeg -f concat -safe 0 -i mylist.txt -c copy output.mp4

For Windows:

(echo file 'first file.mp4' & echo file 'second file.mp4' )>list.txt
ffmpeg -safe 0 -f concat -i list.txt -c copy output.mp4

3. concat protocol

Use this method with formats that support file-level concatenation (MPEG-1, MPEG-2 PS, DV). Do not use with MP4.

ffmpeg -i "concat:input1|input2" -codec copy output.mkv

This method does not work for many formats, including MP4, due to the nature of these formats and the simplistic concatenation performed by this method.

If in doubt about which method to use, try the concat demuxer.

Also see

• FFmpeg FAQ: How can I join video files?
• FFmpeg Wiki: How to concatenate (join, merge) media files

When you copy a video stream, you cannot change any of its paramters, since… well, you're copying it. ffmpeg won't touch it in any way, so it can't change the dimensions, frame rate, et cetera.

Also, ffmpeg always chooses a default video codec if you don't specify one. For AVI files, that's mpeg4.

If you want H.264 video, choose -c:v libx264 instead (or -vcodec libx264 which is the same). If you need to keep the original profile, use -profile:v baseline.

Two things:

• When you change the size, you will recode the video. This lowers the quality and might considerably harm the video. To compensate for this, you might need to set a higher quality level. You do this by setting the Constant Rate Factor to anything below the default of 23, e.g. with -crf 20. Experiment and see how your video looks like. If you have the time, add the -preset slow (or slower, veryslow), which will give you better compression.

• Not that it matters in your case, since your input uses the Constrained Baseline profile, but note that H.264 in AVI is not properly supported, at least when using B pictures. Baseline doesn't support B pictures though, so you should be fine. It could happen that file can't be played back on some devices or players if you use the Main profile or anything above. I would rather mux it into an MP4 or MKV container, especially if your input file is MP4 anyway.