diff --git a/Cargo.toml b/Cargo.toml
index 27cb015..ee8270a 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -46,14 +46,14 @@ serde = ["dep:serde", "half/serde", "cgmath/serde"]
 [dependencies]
 cgmath = "0.18"
 half = {version="2", features=["std", "num-traits", "zerocopy"]}
-thiserror = "1"
-reqwest = {version = "0.11", optional = true, default-features = false }
+thiserror = "2"
+reqwest = {version = "0.12", optional = true, default-features = false }
 gltf = { version = "1", optional = true, features=["KHR_materials_ior", "KHR_materials_transmission"] }
 wavefront_obj = { version = "10", optional = true }
 stl_io = { version = "0.8.2", optional = true }
-image = { version = "0.24", optional = true, default-features = false}
-resvg = { version = "0.43.0", optional = true }
-pcd-rs = { version = "0.10", optional = true, features = ["derive"] }
+image = { version = "0.25", optional = true, default-features = false}
+resvg = { version = "0.44.0", optional = true }
+pcd-rs = { version = "0.12", optional = true, features = ["derive"] }
 data-url = {version = "0.3", optional = true }
 serde = {version= "1", optional = true, features = ["derive", "rc"] }
 
diff --git a/src/camera.rs b/src/camera.rs
index 9f802f4..3a2518f 100644
--- a/src/camera.rs
+++ b/src/camera.rs
@@ -567,12 +567,20 @@ impl Camera {
     }
 
     ///
-    /// Returns the up direction of this camera (might not be orthogonal to the view direction).
+    /// Returns the up direction of this camera.
+    /// This will probably not be orthogonal to the view direction, use [up_orthogonal](Camera::up_orthogonal) instead if that is needed.
     ///
     pub fn up(&self) -> &Vec3 {
         &self.up
     }
 
+    ///
+    /// Returns the up direction of this camera that is orthogonal to the view direction.
+    ///
+    pub fn up_orthogonal(&self) -> Vec3 {
+        self.right_direction().cross(self.view_direction())
+    }
+
     ///
     /// Returns the view direction of this camera, ie. the direction the camera is looking.
     ///
@@ -605,11 +613,14 @@ impl Camera {
 
     fn update_screen2ray(&mut self) {
         let mut v = self.view;
+        v /= v[3][3];
         if let ProjectionType::Perspective { .. } = self.projection_type {
             v /= v[3][3];
             v[3] = vec4(0.0, 0.0, 0.0, 1.0);
         }
-        self.screen2ray = (self.projection * v).invert().unwrap();
+        self.screen2ray = (self.projection * v)
+            .invert()
+            .unwrap_or_else(|| Mat4::identity());
     }
 
     fn update_frustrum(&mut self) {
@@ -723,8 +734,17 @@ impl Camera {
         }
     }
 
+    ///
+    /// Moves the camera towards the camera target by the amount delta while keeping the given minimum and maximum distance to the target.
+    ///
+    pub fn zoom(&mut self, delta: f32, minimum_distance: f32, maximum_distance: f32) {
+        let target = self.target;
+        self.zoom_towards(&target, delta, minimum_distance, maximum_distance);
+    }
+
     ///
     /// Moves the camera towards the given point by the amount delta while keeping the given minimum and maximum distance to the point.
+    /// Note that the camera target is also updated so that the view direction is the same.
     ///
     pub fn zoom_towards(
         &mut self,
@@ -741,11 +761,15 @@ impl Camera {
 
         let position = *self.position();
         let distance = point.distance(position);
-        let direction = (point - position).normalize();
-        let target = self.target;
-        let up = self.up;
-        let new_distance = (distance - delta).clamp(minimum_distance, maximum_distance);
-        let new_position = point - direction * new_distance;
-        self.set_view(new_position, target, up);
+        if distance > f32::EPSILON {
+            let delta_clamped =
+                distance - (distance - delta).clamp(minimum_distance, maximum_distance);
+            let v = (point - position) * delta_clamped / distance;
+            self.set_view(
+                self.position + v,
+                self.target + v - v.project_on(self.view_direction()),
+                self.up,
+            );
+        }
     }
 }
diff --git a/src/io/img.rs b/src/io/img.rs
index a925c42..0338835 100644
--- a/src/io/img.rs
+++ b/src/io/img.rs
@@ -1,5 +1,5 @@
 use crate::{io::RawAssets, texture::*, Error, Result};
-use image::{io::Reader, *};
+use image::*;
 use std::io::Cursor;
 use std::path::Path;
 
@@ -10,34 +10,13 @@ pub fn deserialize_img(path: impl AsRef<Path>, bytes: &[u8]) -> Result<Texture2D
         .filter(|s| !s.starts_with("data:"))
         .unwrap_or("default")
         .to_owned();
-    let mut reader = Reader::new(Cursor::new(bytes))
+    let mut reader = ImageReader::new(Cursor::new(bytes))
         .with_guessed_format()
         .expect("Cursor io never fails");
 
     if reader.format().is_none() {
         reader.set_format(ImageFormat::from_path(path)?);
     }
-    #[cfg(feature = "hdr")]
-    if reader.format() == Some(image::ImageFormat::Hdr) {
-        use image::codecs::hdr::*;
-        let decoder = HdrDecoder::new(&*bytes)?;
-        let metadata = decoder.metadata();
-        let img = decoder.read_image_native()?;
-        return Ok(Texture2D {
-            name,
-            data: TextureData::RgbF32(
-                img.iter()
-                    .map(|rgbe| {
-                        let Rgb(values) = rgbe.to_hdr();
-                        [values[0], values[1], values[2]]
-                    })
-                    .collect::<Vec<_>>(),
-            ),
-            width: metadata.width,
-            height: metadata.height,
-            ..Default::default()
-        });
-    }
     let img: DynamicImage = reader.decode()?;
     let width = img.width();
     let height = img.height();
@@ -61,6 +40,12 @@ pub fn deserialize_img(path: impl AsRef<Path>, bytes: &[u8]) -> Result<Texture2D
                 .map(|c| [c[0], c[1], c[2], c[3]])
                 .collect::<Vec<_>>(),
         ),
+        DynamicImage::ImageRgb32F(img) => TextureData::RgbF32(
+            img.into_raw()
+                .chunks(3)
+                .map(|c| [c[0], c[1], c[2]])
+                .collect::<Vec<_>>(),
+        ),
         _ => unimplemented!(),
     };
     Ok(Texture2D {
@@ -114,42 +99,42 @@ pub fn deserialize_svg(path: impl AsRef<Path>, bytes: &[u8]) -> Result<Texture2D
 pub fn serialize_img(tex: &Texture2D, path: &Path) -> Result<RawAssets> {
     #![allow(unreachable_code)]
     #![allow(unused_variables)]
-    let format: image::ImageOutputFormat = match path.extension().unwrap().to_str().unwrap() {
+    let format: ImageFormat = match path.extension().unwrap().to_str().unwrap() {
         "png" => {
             #[cfg(not(feature = "png"))]
             return Err(Error::FeatureMissing("png".to_string()));
             #[cfg(feature = "png")]
-            image::ImageOutputFormat::Png
+            ImageFormat::Png
         }
         "jpeg" | "jpg" => {
             #[cfg(not(feature = "jpeg"))]
             return Err(Error::FeatureMissing("jpeg".to_string()));
             #[cfg(feature = "jpeg")]
-            image::ImageOutputFormat::Jpeg(100)
+            ImageFormat::Jpeg
         }
         "bmp" => {
             #[cfg(not(feature = "bmp"))]
             return Err(Error::FeatureMissing("bmp".to_string()));
             #[cfg(feature = "bmp")]
-            image::ImageOutputFormat::Bmp
+            ImageFormat::Bmp
         }
         "tga" => {
             #[cfg(not(feature = "tga"))]
             return Err(Error::FeatureMissing("tga".to_string()));
             #[cfg(feature = "tga")]
-            image::ImageOutputFormat::Tga
+            ImageFormat::Tga
         }
         "tiff" | "tif" => {
             #[cfg(not(feature = "tiff"))]
             return Err(Error::FeatureMissing("tiff".to_string()));
             #[cfg(feature = "tiff")]
-            image::ImageOutputFormat::Tiff
+            ImageFormat::Tiff
         }
         "gif" => {
             #[cfg(not(feature = "gif"))]
             return Err(Error::FeatureMissing("gif".to_string()));
             #[cfg(feature = "gif")]
-            image::ImageOutputFormat::Gif
+            ImageFormat::Gif
         }
         _ => return Err(Error::FailedSerialize(path.to_str().unwrap().to_string())),
     };
@@ -173,14 +158,29 @@ pub fn serialize_img(tex: &Texture2D, path: &Path) -> Result<RawAssets> {
             )
             .unwrap(),
         ),
-        TextureData::RgbaU8(data) => DynamicImage::ImageRgba8(
-            ImageBuffer::from_raw(
-                tex.width,
-                tex.height,
-                data.iter().flat_map(|v| *v).collect::<Vec<_>>(),
-            )
-            .unwrap(),
-        ),
+        TextureData::RgbaU8(data) => {
+            if format == ImageFormat::Jpeg {
+                DynamicImage::ImageRgb8(
+                    ImageBuffer::from_raw(
+                        tex.width,
+                        tex.height,
+                        data.iter()
+                            .flat_map(|v| [v[0], v[1], v[2]])
+                            .collect::<Vec<_>>(),
+                    )
+                    .unwrap(),
+                )
+            } else {
+                DynamicImage::ImageRgba8(
+                    ImageBuffer::from_raw(
+                        tex.width,
+                        tex.height,
+                        data.iter().flat_map(|v| *v).collect::<Vec<_>>(),
+                    )
+                    .unwrap(),
+                )
+            }
+        }
         _ => unimplemented!(),
     };
     let mut bytes: Vec<u8> = Vec::new();
@@ -212,7 +212,11 @@ mod test {
 
         if format == "jpeg" || format == "jpg" {
             if let crate::TextureData::RgbU8(data) = tex.data {
-                assert_eq!(data, vec![[4, 0, 0], [250, 0, 1], [0, 254, 1], [1, 2, 253]]);
+                // Jpeg is not lossless
+                assert_eq!(
+                    data,
+                    vec![[47, 0, 18], [227, 0, 0], [0, 245, 0], [15, 32, 255]]
+                );
             } else {
                 panic!("Wrong texture data: {:?}", tex.data)
             }
diff --git a/src/io/pcd.rs b/src/io/pcd.rs
index ace1e1f..59696a7 100644
--- a/src/io/pcd.rs
+++ b/src/io/pcd.rs
@@ -13,7 +13,7 @@ pub fn deserialize_pcd(raw_assets: &mut RawAssets, path: &PathBuf) -> Result<Sce
     let z_index = schema.iter().position(|f| f.name == "z").unwrap();
     let rgb_index = schema.iter().position(|f| f.name == "rgb");
 
-    let points = reader.collect::<pcd_rs::anyhow::Result<Vec<_>>>()?;
+    let points = reader.collect::<pcd_rs::Result<Vec<_>>>()?;
     let positions = points
         .iter()
         .map(|p| {
diff --git a/src/lib.rs b/src/lib.rs
index 7df2c3e..34aef5a 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -229,7 +229,7 @@ pub enum Error {
 
     #[cfg(feature = "pcd")]
     #[error("error while parsing an .pcd file")]
-    Pcd(#[from] pcd_rs::anyhow::Error),
+    Pcd(#[from] pcd_rs::Error),
 
     #[cfg(any(not(target_arch = "wasm32"), feature = "stl"))]
     #[error("io error")]
diff --git a/test_data/test.jpeg b/test_data/test.jpeg
index a255563..7c9e4f5 100644
Binary files a/test_data/test.jpeg and b/test_data/test.jpeg differ
diff --git a/test_data/test.jpg b/test_data/test.jpg
index a255563..7c9e4f5 100644
Binary files a/test_data/test.jpg and b/test_data/test.jpg differ
diff --git a/test_data/test.png b/test_data/test.png
index 2eed7d0..9667fcc 100644
Binary files a/test_data/test.png and b/test_data/test.png differ
diff --git a/test_data/test.tga b/test_data/test.tga
index b3a8be4..6d01fda 100644
Binary files a/test_data/test.tga and b/test_data/test.tga differ