Systems and methods preserve the information lost in gamut-mapping during marking (e.g., printing) such that the lost information survives the marking and recapture (e.g. scanning) process. Generally, an encoding method may include gamut-mapping and image for a particular device; determining a residual image; and embedding the information needed to recover the residual image within the pixels of the gamut-mapped image. Generally, a decoding method may include extracting the embedded information from the image; and using the residual image to restore the gamut-mapped image to the original image.