diff --git a/.dockerignore b/.dockerignore
new file mode 100644
index 00000000..41c7f2d2
--- /dev/null
+++ b/.dockerignore
@@ -0,0 +1,9 @@
+.vs
+.vscode
+Builds/*
+Testing/*
+.idea
+cmake-build-debug
+cmake-build-release
+build
+external/vcpkg
diff --git a/.gitignore b/.gitignore
index c95cf8d0..0e6a9610 100644
--- a/.gitignore
+++ b/.gitignore
@@ -37,5 +37,6 @@ Builds/*
 Testing/*
 .idea
 cmake-build-debug
+cmake-build-release
 build
 external/vcpkg
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7e6050ce..734f0125 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -39,6 +39,7 @@ find_package(PCL 1.12 CONFIG REQUIRED COMPONENTS common io filters visualization
 # Includes
 include_directories(include)
 include_directories($ENV{OptiX_INSTALL_DIR}/include)
+include_directories(${spdlog_SOURCE_DIR}/include)
 
 # Compile OptiX device programs (pipeline) and embed the binary in a library as a char[]
 add_library(optixProgramsPtx OBJECT src/gpu/optixPrograms.cu)
diff --git a/Dockerfile b/Dockerfile
deleted file mode 100644
index 9d5c82fb..00000000
--- a/Dockerfile
+++ /dev/null
@@ -1,6 +0,0 @@
-FROM nvidia/cuda:11.2.0-devel-ubuntu20.04
-WORKDIR /code
-RUN apt update -y && DEBIAN_FRONTEND=noninteractive apt install -y git python3-pip
-RUN pip3 install cmake --upgrade  # Install from PIP since 3.17 is needed
-
-
diff --git a/DockerfileLatest b/DockerfileLatest
new file mode 100644
index 00000000..f3c301ed
--- /dev/null
+++ b/DockerfileLatest
@@ -0,0 +1,25 @@
+FROM nvidia/cuda:11.7.1-devel-ubuntu22.04
+
+ARG DEBIAN_FRONTEND=noninteractive
+
+RUN apt update
+
+RUN apt install -y cmake
+
+# Install vcpkg dependencies
+RUN apt install -y \
+    git \
+    curl \
+    zip \
+    unzip \
+    tar \
+    pkg-config \
+    freeglut3-dev \
+    python3
+
+# Install RGL dependencies via vcpkg
+COPY setup.bash /
+RUN /setup.bash
+RUN rm /setup.bash
+
+WORKDIR /code
diff --git a/DockerfileMinimal b/DockerfileMinimal
new file mode 100644
index 00000000..5102d4cd
--- /dev/null
+++ b/DockerfileMinimal
@@ -0,0 +1,28 @@
+FROM nvidia/cuda:11.2.0-devel-ubuntu20.04
+
+ARG DEBIAN_FRONTEND=noninteractive
+
+RUN apt update
+
+# Install cmake from PIP since 3.17 is needed
+RUN apt install -y \
+    python3-pip
+RUN pip3 install cmake --upgrade
+
+# Install vcpkg dependencies
+RUN apt install -y \
+    git \
+    curl \
+    zip \
+    unzip \
+    tar \
+    pkg-config \
+    freeglut3-dev \
+    python3
+
+# Install RGL dependencies via vcpkg
+COPY setup.bash /
+RUN /setup.bash
+RUN rm /setup.bash
+
+WORKDIR /code
diff --git a/README.md b/README.md
index f7ac73df..a63c168a 100644
--- a/README.md
+++ b/README.md
@@ -39,6 +39,20 @@ And more:
 
 An introduction to the RGL API along with an example can be found [here](docs/Usage.md).
 
+## Building in Docker (Linux)
+
+Two dockerfiles are prepared:
+- `DockerfileMinimal` - image designed to meet RGL minimal requirements
+- `DockerfileLatest` - image with latest Ubuntu and CUDA Toolkit version
+
+Build instructions:
+1. Download [NVidia OptiX](https://developer.nvidia.com/designworks/optix/download) 7.2
+2. `export OptiX_INSTALL_DIR=<Path to OptiX>`
+3. `docker build . -f DockerfileMinimal --tag rgl:minimal`
+4. Set up [NVIDIA Container Toolkit](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html#docker)
+5. `docker run --net=host --gpus all -v $(pwd):/code -v ${OptiX_INSTALL_DIR}:/optix -e OptiX_INSTALL_DIR=/optix -e NVIDIA_DRIVER_CAPABILITIES=all -it rgl:minimal /bin/bash`
+6. `./setup.bash --cmake --make -j`
+
 ## Building on Ubuntu
 
 1. Install [CUDA Toolkit](https://developer.nvidia.com/cuda-downloads) 11.2+.
diff --git a/setup.bash b/setup.bash
index d86ca097..2f72b74d 100755
--- a/setup.bash
+++ b/setup.bash
@@ -7,6 +7,13 @@ CUDA_MIN_VER_MAJOR="11"
 CUDA_MIN_VER_MINOR="2"
 VCPKG_INSTALL_DIR="external/vcpkg"
 VCPKG_TAG="2022.08.15"
+INSIDE_DOCKER=false
+
+if [ -f /.dockerenv ]; then
+    VCPKG_INSTALL_DIR="/rgldep/vcpkg"
+    INSIDE_DOCKER=true
+    echo "Setup inside docker"
+fi
 
 CMAKE_ARGS=()
 MAKE_ARGS=()
@@ -38,21 +45,23 @@ if [ "$CUDA_MAJOR" -lt $CUDA_MIN_VER_MAJOR ] ||
     echo "CUDA version not supported! Get $CUDA_MIN_VER_MAJOR.$CUDA_MIN_VER_MINOR+" && exit 1;
 fi
 
-# Check OptiX_INSTALL_DIR
-if [ -z "$OptiX_INSTALL_DIR" ]; then
+# Check OptiX_INSTALL_DIR if building RGL
+if [ -z "$OptiX_INSTALL_DIR" ] && { [ "$DO_CMAKE" = true ] || [ "$DO_MAKE" = true ]; }; then
     echo "OptiX not found! Make sure you export environment variable OptiX_INSTALL_DIR" && exit 1;
 fi
 
 # Install PCL using vcpkg
 if [ ! -d "$VCPKG_INSTALL_DIR" ]; then
-    echo "Installing dependencies for vcpkg..."
-    sudo apt update
-    sudo apt install git curl zip unzip tar freeglut3-dev
+    if [ "$INSIDE_DOCKER" = false ]; then  # Inside docker already provided
+        echo "Installing dependencies for vcpkg..."
+        sudo apt update
+        sudo apt install git curl zip unzip tar freeglut3-dev
+    fi
     git clone -b $VCPKG_TAG --single-branch --depth 1 https://github.com/microsoft/vcpkg $VCPKG_INSTALL_DIR
 fi
 if [ ! -f $VCPKG_INSTALL_DIR"/vcpkg" ]; then $VCPKG_INSTALL_DIR"/bootstrap-vcpkg.sh"; fi
 
-$VCPKG_INSTALL_DIR"/vcpkg" "install" "pcl[core,visualization]"
+$VCPKG_INSTALL_DIR"/vcpkg" "install" "--clean-after-build" "pcl[core,visualization]"
 
 # Build
 if [ ! -d "build" ]; then mkdir build; fi