diff --git a/.gitignore b/.gitignore
index 7066a48..457517d 100644
--- a/.gitignore
+++ b/.gitignore
@@ -139,7 +139,7 @@ Dataset/
 .vscode
 *.csv
 .jupyter
-.local_settings
+.local
 .ipython
 .config
-
+.bash_history
diff --git a/Dockerfile b/Dockerfile
new file mode 100644
index 0000000..d87c493
--- /dev/null
+++ b/Dockerfile
@@ -0,0 +1,130 @@
+FROM ubuntu:18.04
+RUN useradd -d /pyslam pyslam
+RUN apt-get update 
+RUN apt-get install -y git
+RUN apt-get install -y wget
+RUN apt-get install -y unzip tmux
+RUN apt-get install -y pkg-config 
+RUN apt-get install -y libglew-dev python3-dev python3-pip
+RUN apt-get install -y cmake
+RUN apt-get install -y ffmpeg libgl1-mesa-dev libavcodec-dev libavutil-dev libavformat-dev libswscale-dev libavdevice-dev libdc1394-22-dev libraw1394-dev libjpeg-dev libtiff5-dev libopenexr-dev
+RUN python3 -mpip install numpy pyopengl Pillow pybind11 jupyter matplotlib pandas pyyaml
+RUN mkdir /pyslam
+RUN chown -R pyslam:pyslam /pyslam
+
+# Pangolin
+ARG Pangolin_Path='/pyslam/Pangolin'
+RUN cd /pyslam
+RUN mkdir $Pangolin_Path
+RUN git clone https://github.com/stevenlovegrove/Pangolin.git $Pangolin_Path
+RUN cd  $Pangolin_Path
+RUN mkdir  $Pangolin_Path/build
+WORKDIR $Pangolin_Path/build
+RUN cd  $Pangolin_Path/build
+RUN cmake  $Pangolin_Path
+RUN make -j7
+RUN make install
+
+#Eigen
+ARG Eigen_Path='/pyslam/Eigen'
+RUN cd /pyslam
+RUN mkdir $Eigen_Path
+RUN git clone https://gitlab.com/libeigen/eigen.git $Eigen_Path
+RUN mkdir $Eigen_Path/build
+RUN cd $Eigen_Path/build
+WORKDIR $Eigen_Path/build
+RUN cmake $Eigen_Path
+RUN make install
+
+# OpenCV
+ARG opencv_Path='/pyslam/opencv-3.4.11'
+ARG opencv_contrib_Path='/pyslam/opencv_contrib-3.4.11'
+RUN cd /pyslam
+RUN wget https://github.com/opencv/opencv/archive/3.4.11.zip
+RUN unzip 3.4.11.zip -d /pyslam
+RUN rm 3.4.11.zip
+RUN wget https://github.com/opencv/opencv_contrib/archive/3.4.11.zip 
+RUN unzip 3.4.11.zip -d /pyslam
+RUN rm 3.4.11.zip
+RUN cd $opencv_Path
+RUN mkdir $opencv_Path/build
+RUN cd $opencv_Path/build
+WORKDIR $opencv_Path/build
+RUN cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local \
+        OPENCV_EXTRA_MODULES_PATH=$opencv_contrib_Path  ..
+RUN make -j7
+RUN make install
+
+# install the python version
+RUN pip3 install --upgrade pip
+RUN python3 -mpip install opencv-contrib-python==3.4.11.45
+RUN python3 -c 'import cv2; print(cv2.__version__)'
+
+# Orb_Slam2
+ARG Orb_Slam2_Path='/pyslam/OrbSlam2'
+RUN cd /pyslam
+RUN mkdir $Orb_Slam2_Path
+RUN git clone https://github.com/GiordanoLaminetti/ORB_SLAM2 $Orb_Slam2_Path
+WORKDIR $Orb_Slam2_Path
+RUN ./build.sh
+RUN cd $Orb_Slam2_Path/build
+WORKDIR $Orb_Slam2_Path/build
+RUN make install
+
+# Orb_Slam3
+ARG Orb_Slam3_Path='/pyslam/OrbSlam3'
+RUN cd /pyslam
+RUN mkdir $Orb_Slam3_Path
+RUN git clone https://github.com/GiordanoLaminetti/ORB_SLAM3 $Orb_Slam3_Path
+WORKDIR $Orb_Slam3_Path
+RUN apt-get -y install qemu gcc-aarch64-linux-gnu
+RUN apt-get -y install libboost-all-dev libpcap-dev libssl-dev
+RUN ./build.sh
+RUN cd $Orb_Slam3_Path/build
+WORKDIR $Orb_Slam3_Path/build
+RUN make install
+
+
+# OrbSlam2-python Bindings
+RUN which python3
+ARG Orb_Slam2_PB_Path='/pyslam/OrbSlam2-PythonBinding'
+RUN cd /pyslam
+RUN mkdir $Orb_Slam2_PB_Path
+RUN git clone https://github.com/GiordanoLaminetti/ORB_SLAM2-PythonBindings.git $Orb_Slam2_PB_Path
+RUN mkdir $Orb_Slam2_PB_Path/build
+WORKDIR $Orb_Slam2_PB_Path/build
+RUN ln -s /usr/lib/x86_64-linux-gnu/libboost_python-py36.so \
+         /usr/lib/x86_64-linux-gnu/libboost_python-py35.so
+RUN apt-get -y install libeigen3-dev         
+RUN ln -s /usr/include/eigen3/Eigen /usr/local/include/Eigen
+RUN cmake ..
+RUN make -j7
+RUN make install
+RUN ls /usr/local/lib/python3.6
+RUN ln -s /usr/local/lib/python3.5/dist-packages/orbslam2.so \
+         /usr/local/lib/python3.6/dist-packages/orbslam2.so
+RUN python3 -c 'import orbslam2'
+
+# OrbSlam3-python Bindings
+RUN which python3
+ARG Orb_Slam3_PB_Path='/pyslam/OrbSlam3-PythonBinding'
+RUN cd /pyslam
+RUN mkdir $Orb_Slam3_PB_Path
+RUN ls -la
+RUN git clone -b ORBSLAM3 https://github.com/GiordanoLaminetti/ORB_SLAM2-PythonBindings.git $Orb_Slam3_PB_Path
+RUN mkdir $Orb_Slam3_PB_Path/build
+WORKDIR $Orb_Slam3_PB_Path/build
+RUN cmake ..
+RUN make -j7
+RUN make install
+RUN ln -s /usr/local/lib/python3.5/dist-packages/orbslam3.so \
+         /usr/local/lib/python3.6/dist-packages/
+RUN python3 -c 'import orbslam3'
+
+#remove all the folder
+RUN rm -rf /pyslam/*
+WORKDIR /pyslam
+#change user
+USER pyslam
+COPY . /pyslam
+EXPOSE 8888
\ No newline at end of file