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In some videos there zoomed part of the same video instead of black bars.
Like this one:
Let's say your final canvas resolution is WxH, then you would run
ffmpeg -i video -filter_complex "scale=W:H,boxblur=15:15,setsar=1[bg];[bg]overlay=(W-w)/2:(H-h)/2" -c:a copy out.mp4
Could not write header for output file #0 (incorrect codec parameters ?): Invalid argument
Required, but never shown