There is no "clean" way of doing it.
The only solution that i can think of is doing something similar to the
Mosaic system.
What this would basically be (with a developement version of VLC):
create a vlm.conf (or whatever) file :
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#This is a background image that will be displayed durring transitions
new background broadcast enabled
setup background input fake:
setup background ouput #bridge-in:transcode{sfilter=mosaic,vcodec=mp2v,vb=4096}:standard{mux=ts,access=udp,url=239.255.12.12}
#this is one of the streams
new vid1 broadcast enabled input file1.mpeg
setup vid1 output #duplicate{dst=mosaic-bridge{id=1},select=video,dst=bridge-out{id=1},select=audio}
#this is another stream
new vid2 broadcast enabled input file2.mpeg
setup vid2 output #duplicate{dst=mosaic-bridge{id=1},select=video,dst=bridge-out{id=1},select=audio}
control background play
control vid1 play
#and then you need to add schedule stuff which basically stops vid1 and then starts vid2 (note that vid1 needs to be stoped before you launch vid2)
and launch VLC with this command
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vlc -vvv --color --vlm-conf vlm.conf -I telnet --fake-file background.png --mosaic-height <the pic's and video's height> --mosaic-widht <width> --mosaic-rows 1 --mosaic-cols 1 --mosaic-keep-picture
the main drawback of this method is that you need to transcode the video, which results in CPU usage and some degrading of video quality. But its the only way to have a continuous video stream in VLC (at least i can't think of any other method).
note that all the videos and the background image need to have the same width and height. You could resize the videos on the fly, but that would result in more CPU usage and i doubt that you even need to do so.
(why do you need a developement version ? because --fake-file wasn't available in 0.8.2 and it really is an improvement compared to the previous method using the switcher module)