In one embodiment, a method includes accessing a pair of stereo images for a scene, where each image of the pair of stereo images has incomplete pixel information and k channels, stacking the pair of stereo images to form a stacked input image with 2k channels, processing the stacked input image using a machine-learning model to generate a stacked output image with 2k channels, and separating the stacked output image with 2k channels into a pair of reconstructed stereo images for the scene, where each image of the pair of reconstructed stereo images has complete pixel information and k channels.