diff --git a/Dockerfile b/Dockerfile
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+FROM osrf/ros:noetic-desktop
+
+# Install some basic dependencies
+RUN apt-get update && apt-get install -y \
+    git \
+    cmake \
+    build-essential \
+    libboost-all-dev \
+    libgoogle-perftools-dev \
+    google-perftools \
+    libatlas-base-dev \
+    libsuitesparse-dev \
+    libyaml-cpp-dev \
+    wget \
+    unzip \
+    libgoogle-glog-dev \
+    libgflags-dev
+
+RUN mkdir -p /root/catkin_ws/src
+WORKDIR /root/catkin_ws/src
+RUN git clone https://github.com/neufieldrobotics/MultiCamSLAM
+
+RUN mkdir -p /root/catkin_ws/ThirdParty && \
+    cd /root/catkin_ws/ThirdParty && \
+    git clone -b 4.5.5 https://github.com/opencv/opencv.git && \
+    git clone -b 4.5.5 https://github.com/opencv/opencv_contrib.git
+
+RUN mkdir -p /root/catkin_ws/ThirdParty/opencv/build && \
+    cd /root/catkin_ws/ThirdParty/opencv/build && \
+    cmake -D CMAKE_BUILD_TYPE=RELEASE \
+    -D CMAKE_INSTALL_PREFIX=../../opencv/install \
+    -D WITH_OPENGL=ON \
+    -D OPENCV_EXTRA_MODULES_PATH=../../opencv_contrib/modules .. && \
+    make install -j $(nproc)
+
+RUN cd /root/catkin_ws/ThirdParty && \
+    wget https://gitlab.com/libeigen/eigen/-/archive/3.3.7/eigen-3.3.7.tar.gz && \
+    tar zxf eigen-3.3.7.tar.gz && \
+    mv eigen-3.3.7 eigen && \
+    rm eigen-3.3.7.tar.gz
+
+RUN mkdir -p /root/catkin_ws/ThirdParty/eigen/build && \
+    cd /root/catkin_ws/ThirdParty/eigen/build && \
+    cmake .. && \
+    make install -j $(nproc)
+
+RUN cd /root/catkin_ws/ThirdParty && \
+    wget https://github.com/borglab/gtsam/archive/refs/tags/4.1.1.zip && \
+    unzip 4.1.1.zip && \
+    rm 4.1.1.zip && \
+    mv gtsam-4.1.1 gtsam 
+
+RUN mkdir -p /root/catkin_ws/ThirdParty/gtsam/build && \
+    cd /root/catkin_ws/ThirdParty/gtsam/build && \
+    cmake .. -DCMAKE_INSTALL_PREFIX=../install && \
+    make install -j $(nproc)
+
+RUN cd /root/catkin_ws/ThirdParty && \
+    git clone https://github.com/laurentkneip/opengv
+
+RUN mkdir -p /root/catkin_ws/ThirdParty/opengv/build && \
+    sed -i '2i add_compile_options(-std=c++17)' /root/catkin_ws/ThirdParty/opengv/CMakeLists.txt && \
+    cd /root/catkin_ws/ThirdParty/opengv/build && \
+    cmake .. -DCMAKE_INSTALL_PREFIX=../install && \
+    make install -j $(nproc) && \
+    make test 
+
+RUN cd /root/catkin_ws/ThirdParty && \ 
+    git clone https://github.com/PushyamiKaveti/DBoW2
+
+RUN mkdir -p /root/catkin_ws/ThirdParty/DBoW2/build && \
+    cd /root/catkin_ws/ThirdParty/DBoW2/build && \
+    cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=../install && \
+    make install -j $(nproc)
+
+RUN cd /root/catkin_ws/ThirdParty && \
+    git clone https://github.com/dorian3d/DLib
+
+RUN mkdir -p /root/catkin_ws/ThirdParty/DLib/build && \
+    cd /root/catkin_ws/ThirdParty/DLib/build && \
+    cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=../install && \
+    make install -j $(nproc)
+
+
+RUN cd /root/catkin_ws/ThirdParty && \
+    git clone --recursive https://github.com/stevenlovegrove/Pangolin.git && \
+    cd Pangolin && echo "y" | ./scripts/install_prerequisites.sh required && \
+    cmake -B build && \
+    cmake --build build && \
+    ctest
+
+RUN cd /root/catkin_ws && \
+    . /opt/ros/noetic/setup.sh && \
+    catkin_make -DOpenCV_DIR=/root/catkin_ws/ThirdParty/opencv/build \
+    -DDBoW2_DIR=/root/catkin_ws/ThirdParty/DBoW2/build \
+    -DDLib_DIR=/root/catkin_ws/ThirdParty/DLib/build \
+    -Dopengv_DIR=/root/catkin_ws/ThirdParty/opengv/build \
+    -DGTSAM_DIR=/root/catkin_ws/ThirdParty/gtsam/build \
+    -DGTSAM_UNSTABLE_DIR=/root/catkin_ws/ThirdParty/gtsam/build  \
+    -Dopengv_INC_DIR=/root/catkin_ws/ThirdParty/opengv/include \
+    -DCUDA_TOOLKIT_INCLUDE=/home/$USER \
+    -DCUDA_CUDART_LIBRARY=/home/$USER \
+
+
+ENTRYPOINT [ "/bin/bash" ]
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