diff --git a/opportunistic_link/include/opportunistic_link/image_compression.h b/opportunistic_link/include/opportunistic_link/image_compression.h
index 4992cb2..2e1aaa4 100644
--- a/opportunistic_link/include/opportunistic_link/image_compression.h
+++ b/opportunistic_link/include/opportunistic_link/image_compression.h
@@ -10,10 +10,6 @@ namespace image_compression
 {
     class ImageHandler
     {
-    protected:
-
-        ;
-
     public:
 
         ImageHandler() {}
diff --git a/opportunistic_link/src/opportunistic_link/image_compression.cpp b/opportunistic_link/src/opportunistic_link/image_compression.cpp
index ecad4fb..29cb805 100644
--- a/opportunistic_link/src/opportunistic_link/image_compression.cpp
+++ b/opportunistic_link/src/opportunistic_link/image_compression.cpp
@@ -21,7 +21,15 @@ void ImageHandler::reset_decoder()
 sensor_msgs::Image ImageHandler::decompress_image(const sensor_msgs::CompressedImage& compressed, const std::string& encoding)
 {
     sensor_msgs::Image decompressed;
-    cv::Mat decoded = cv::imdecode(compressed.data, CV_LOAD_IMAGE_ANYCOLOR);
+    cv::Mat decoded = cv::imdecode(compressed.data, CV_LOAD_IMAGE_UNCHANGED);
+    if(decoded.data == NULL)
+    {
+        throw std::runtime_error("OpenCV image decoding failed");
+    }
+    else
+    {
+        ROS_DEBUG_STREAM("Decoding successful, rows=" << decoded.rows << ", cols=" << decoded.cols << ", opencv type=" << decoded.type());
+    }
     cv_bridge::CvImage converted;
     converted = cv_bridge::CvImage(compressed.header, encoding, decoded);
     converted.toImageMsg(decompressed);
@@ -37,9 +45,27 @@ sensor_msgs::CompressedImage ImageHandler::compress_image(const sensor_msgs::Ima
     cv_ptr = cv_bridge::toCvCopy(image);
     cv::Mat cv_image = cv_ptr->image;
     std::vector<int> encoding_params;
-    encoding_params.push_back(CV_IMWRITE_JPEG_QUALITY);
-    encoding_params.push_back(quality);
-    bool ret = cv::imencode(".jpg", cv_image, compressed.data, encoding_params);
+    bool ret = false;
+    ROS_DEBUG_STREAM("Image encoding: " << image.encoding);
+    if(image.encoding == "16UC1") {
+        ROS_DEBUG("Encoding in png format");
+        ret = cv::imencode(".png", cv_image, compressed.data, encoding_params);
+        compressed.format = "png";
+    }
+    else if(image.encoding == "32FC1")
+    {
+        ROS_DEBUG("Encoding in tiff format");
+        ret = cv::imencode(".tiff", cv_image, compressed.data, encoding_params);
+        compressed.format = "tiff";
+    }
+    else
+    {
+        ROS_DEBUG("Encoding in jpeg format");
+        encoding_params.push_back(CV_IMWRITE_JPEG_QUALITY);
+        encoding_params.push_back(quality);
+        ret = cv::imencode(".jpg", cv_image, compressed.data, encoding_params);
+        compressed.format = "jpeg";
+    }
     if (ret)
     {
         ROS_DEBUG("OpenCV encoding success");