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Am I right that you want to match 3 pairs of RBG images with a single OpenCV call? OpenCV can't do this, but gpu module supports processing of 3-channel images:

And I want to clarify something:

  1. Why do you want to process RGB images? If you think that it will give you better quality, do you have any links?
  2. Why don't call matching several times? In fact if you want to build a depth map for 2 pairs, you can't reuse any data. That means that performance will not be affected.

IMHO you can just convert your images to grayscale and then call OpenCV several times. Otherwise please explain where a single call may help you...