diff --git a/Dockerfile.iridescence b/Dockerfile.iridescence
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+FROM ubuntu:22.04
+ENV DEBIAN_FRONTEND noninteractive
+
+# install dependencies via apt
+ENV DEBCONF_NOWARNINGS yes
+RUN set -x && \
+  apt-get update -y -qq && \
+  apt-get upgrade -y -qq --no-install-recommends && \
+  : "basic dependencies" && \
+  apt-get install -y -qq \
+    build-essential \
+    pkg-config \
+    cmake \
+    git \
+    wget \
+    curl \
+    tar \
+    unzip && \
+  : "g2o dependencies" && \
+  apt-get install -y -qq \
+    libatlas-base-dev \
+    libsuitesparse-dev \
+    libglew-dev && \
+  : "OpenCV dependencies" && \
+  apt-get install -y -qq \
+    libgtk-3-dev \
+    libjpeg-dev \
+    libpng++-dev \
+    libtiff-dev \
+    libopenexr-dev \
+    libwebp-dev \
+    ffmpeg \
+    libavcodec-dev \
+    libavformat-dev \
+    libavutil-dev \
+    libswscale-dev \
+    libtbb-dev && \
+  : "backward-cpp dependencies" && \
+  apt install -y -qq binutils-dev && \
+  : "iridescence dependencies" && \
+  apt install -y -qq \
+    libglm-dev \
+    libglfw3-dev \
+    libpng-dev \
+    libjpeg-dev \
+    libeigen3-dev \
+    libboost-filesystem-dev \
+    libboost-program-options-dev && \
+  : "other dependencies" && \
+  apt-get install -y -qq \
+    libyaml-cpp-dev \
+    sqlite3 \
+    libsqlite3-dev \
+    rsync && \
+  : "remove cache" && \
+  apt-get autoremove -y -qq && \
+  rm -rf /var/lib/apt/lists/*
+
+ARG CMAKE_INSTALL_PREFIX=/usr/local
+ARG NUM_THREADS=1
+
+ENV CPATH=${CMAKE_INSTALL_PREFIX}/include:${CPATH}
+ENV C_INCLUDE_PATH=${CMAKE_INSTALL_PREFIX}/include:${C_INCLUDE_PATH}
+ENV CPLUS_INCLUDE_PATH=${CMAKE_INSTALL_PREFIX}/include:${CPLUS_INCLUDE_PATH}
+ENV LIBRARY_PATH=${CMAKE_INSTALL_PREFIX}/lib:${LIBRARY_PATH}
+ENV LD_LIBRARY_PATH=${CMAKE_INSTALL_PREFIX}/lib:${LD_LIBRARY_PATH}
+
+ENV NVIDIA_VISIBLE_DEVICES ${NVIDIA_VISIBLE_DEVICES:-all}
+ENV NVIDIA_DRIVER_CAPABILITIES ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics
+
+# Eigen
+ARG EIGEN3_VERSION=3.3.7
+WORKDIR /tmp
+RUN set -x && \
+  wget -q https://gitlab.com/libeigen/eigen/-/archive/${EIGEN3_VERSION}/eigen-${EIGEN3_VERSION}.tar.bz2 && \
+  tar xf eigen-${EIGEN3_VERSION}.tar.bz2 && \
+  rm -rf eigen-${EIGEN3_VERSION}.tar.bz2 && \
+  cd eigen-${EIGEN3_VERSION} && \
+  mkdir -p build && \
+  cd build && \
+  cmake \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} \
+    .. && \
+  make -j${NUM_THREADS} && \
+  make install && \
+  cd /tmp && \
+  rm -rf *
+ENV Eigen3_DIR=${CMAKE_INSTALL_PREFIX}/share/eigen3/cmake
+
+# g2o
+ARG G2O_COMMIT=20230223_git
+WORKDIR /tmp
+RUN set -x && \
+  git clone https://github.com/RainerKuemmerle/g2o.git && \
+  cd g2o && \
+  git checkout ${G2O_COMMIT} && \
+  mkdir -p build && \
+  cd build && \
+  cmake \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} \
+    -DBUILD_SHARED_LIBS=ON \
+    -DBUILD_UNITTESTS=OFF \
+    -DG2O_USE_CHOLMOD=OFF \
+    -DG2O_USE_CSPARSE=ON \
+    -DG2O_USE_OPENGL=OFF \
+    -DG2O_USE_OPENMP=OFF \
+    -DG2O_BUILD_APPS=OFF \
+    -DG2O_BUILD_EXAMPLES=OFF \
+    -DG2O_BUILD_LINKED_APPS=OFF \
+    .. && \
+  make -j${NUM_THREADS} && \
+  make install && \
+  cd /tmp && \
+  rm -rf *
+ENV g2o_DIR=${CMAKE_INSTALL_PREFIX}/lib/cmake/g2o
+
+# OpenCV
+ARG OPENCV_VERSION=4.7.0
+WORKDIR /tmp
+RUN set -x && \
+  wget -q https://github.com/opencv/opencv/archive/${OPENCV_VERSION}.zip && \
+  unzip -q ${OPENCV_VERSION}.zip && \
+  rm -rf ${OPENCV_VERSION}.zip && \
+  cd opencv-${OPENCV_VERSION} && \
+  mkdir -p build && \
+  cd build && \
+  cmake \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} \
+    -DBUILD_DOCS=OFF \
+    -DBUILD_EXAMPLES=OFF \
+    -DBUILD_JASPER=OFF \
+    -DBUILD_OPENEXR=OFF \
+    -DBUILD_PERF_TESTS=OFF \
+    -DBUILD_TESTS=OFF \
+    -DBUILD_PROTOBUF=OFF \
+    -DBUILD_opencv_apps=OFF \
+    -DBUILD_opencv_dnn=OFF \
+    -DBUILD_opencv_ml=OFF \
+    -DBUILD_opencv_python_bindings_generator=OFF \
+    -DENABLE_CXX11=ON \
+    -DENABLE_FAST_MATH=ON \
+    -DWITH_EIGEN=ON \
+    -DWITH_FFMPEG=ON \
+    -DWITH_TBB=ON \
+    -DWITH_OPENMP=ON \
+    .. && \
+  make -j${NUM_THREADS} && \
+  make install && \
+  cd /tmp && \
+  rm -rf *
+ENV OpenCV_DIR=${CMAKE_INSTALL_PREFIX}/lib/cmake/opencv4
+
+# backward-cpp
+ARG BACKWARD_CPP_COMMIT=5ffb2c879ebdbea3bdb8477c671e32b1c984beaa
+WORKDIR /tmp
+RUN set -x && \
+  git clone https://github.com/bombela/backward-cpp.git && \
+  cd backward-cpp && \
+  git checkout ${BACKWARD_CPP_COMMIT} && \
+  mkdir -p build && \
+  cd build && \
+  cmake \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} \
+    .. && \
+  make -j${NUM_THREADS} && \
+  make install && \
+  cd /tmp && \
+  rm -rf *
+
+# stella_vslam
+COPY . /stella_vslam/
+WORKDIR /stella_vslam/
+RUN set -x && \
+  mkdir -p build && \
+  cd build && \
+  cmake \
+    -DCMAKE_BUILD_TYPE=RelWithDebInfo \
+    .. && \
+  make -j${NUM_THREADS} && \
+  make install && \
+  rm -rf CMakeCache.txt CMakeFiles Makefile cmake_install.cmake example src && \
+  chmod -R 777 ./*
+
+# Build and install Iridescence
+ARG IRIDESCENCE_COMMIT=fd0cd952a6e92d52ed4da5a574caf1db2f17c3aa
+RUN set -x && \
+  git clone https://github.com/koide3/iridescence && \
+  cd iridescence && \
+  git checkout -q ${IRIDESCENCE_COMMIT} && \
+  git submodule update --init --recursive && \
+  mkdir -p build && \
+  cd build && \
+  cmake \
+    -DCMAKE_BUILD_TYPE=RelWithDebInfo \
+    -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} \
+    .. && \
+  make -j && \
+  make install && \
+  cd /tmp && \
+  rm -rf *
+
+ARG IRIDESCENCE_VIEWER_COMMIT=2ec89382e7b57a9261d2d800f6c735bc6f01cfe6
+WORKDIR /tmp
+RUN set -x && \
+  git clone https://github.com/stella-cv/iridescence_viewer.git && \
+  cd iridescence_viewer && \
+  git checkout -q ${IRIDESCENCE_VIEWER_COMMIT} && \
+  git submodule update --init --recursive && \
+  mkdir -p build && \
+  cd build && \
+  cmake \
+    -DCMAKE_BUILD_TYPE=RelWithDebInfo \
+    -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} \
+    .. && \
+  make -j${NUM_THREADS} && \
+  make install && \
+  cd /tmp && \
+  rm -rf *
+
+ARG EXAMPLES_COMMIT=1c0433867cba5d110fd94bbc609468650a2f7885
+WORKDIR /
+RUN set -x && \
+  git clone https://github.com/stella-cv/stella_vslam_examples.git && \
+  cd stella_vslam_examples && \
+  git checkout -q ${EXAMPLES_COMMIT} && \
+  git submodule update --init --recursive && \
+  mkdir -p build && \
+  cd build && \
+  cmake \
+    -DCMAKE_BUILD_TYPE=RelWithDebInfo \
+    -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} \
+    -DUSE_STACK_TRACE_LOGGER=ON \
+    .. && \
+  make -j${NUM_THREADS}
+
+WORKDIR /stella_vslam_examples/build/
+ENTRYPOINT ["/bin/bash"]