Depending on how the steam iron trick turns out (works to a point, I've done it), you'll want to cut in a patch. The wood filler will never match permanently.
If there are leftover boards, you're good. Use a circular saw adjusted to the correct depth of the wood and saw down the center of the damaged board. Pry out the two pieces carefully so as to not damage the adjacent boards.
Then cut the bottom part of the groove on the replacement board, spread some adhesive on the sub floor and pop the new board in. Weight it for a day or so then sand the area around the patch and stain to match.
Ps. If you can't find matching, you could dissect a closet floor for the patching board and fix that one with one thats not an exact fit.