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How do I use FFMPEG to output an MPEG-TS file with multiple programs?

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I have converted 4 video files to MPEG-TS format. I then combined them like this
ffmpeg -i video1.ts -i video2.ts -i video3.ts -i video4.ts -c copy -map 0 -map 1 -map 2 -map 3 video.ts


Unfortunately instead of creating an MPEG-TS file with 4 programs, each with an audio and a video stream, it has created an MPEG-TS with 1 program, each with 4 video streams and 4 audio streams. So instead of being able to select which program I want to watch using playback software such as VLC player, I've got 4 simultaneously opened VLC player windows (when it started playing it spawned a new window for each stream).

How can I use FFMPEG to create an MPEG-TS file with multiple programs?

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