diff --git a/.dockerignore b/.dockerignore
new file mode 100644
index 000000000..cc59bdd93
--- /dev/null
+++ b/.dockerignore
@@ -0,0 +1,158 @@
+# Byte-compiled / optimized / DLL files
+__pycache__/
+.history
+exp/
+*.py[cod]
+*$py.class
+# C extensions
+*.so
+BundleTrack/build
+# Distribution / packaging
+.Python
+foundationpose/
+build/
+develop-eggs/
+*.zip
+demo_data/*
+dist/
+# *.png
+# *.jpg
+debug/
+weights/*
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+.vscode/
+wheels/
+wandb/
+*.blend1
+*.tar.*
+*.zip
+*.svg
+sacred/
+artifacts/
+pip-wheel-metadata/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+demo_data/
+debug/
+coverage.xml
+*.cover
+demo_data/
+debug/
+weights/
+*.py,cover
+.hypothesis/
+.pytest_cache/
+*.pth
+weights/
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+cosypose/experiments
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+.python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# Datasets
+data/
+logs/
+!BundleTrack/XMem/inference/data
+run_used.yml
\ No newline at end of file
diff --git a/docker-compose/compose.yaml b/docker-compose/compose.yaml
new file mode 100644
index 000000000..b720a2db7
--- /dev/null
+++ b/docker-compose/compose.yaml
@@ -0,0 +1,34 @@
+name: foundationpose
+services:
+  foundationpose:
+    image: foundationpose:latest   
+    build:
+      context: ../
+      dockerfile: ./docker-compose/dockerfile
+    pull_policy: build
+    container_name: foundationpose
+    command: bash
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix
+      - /tmp:/tmp
+      - /mnt:/mnt
+      - /home:/home
+      - ../:/foundationpose/
+    environment:
+      - DISPLAY=${DISPLAY}
+      - NVIDIA_DISABLE_REQUIRE=1
+    network_mode: host
+    ipc: host
+    cap_add:
+      - SYS_PTRACE
+    security_opt:
+      - seccomp:unconfined
+    tty: true
+    stdin_open: true
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - driver: nvidia
+              count: 1
+              capabilities: [gpu]
\ No newline at end of file
diff --git a/docker-compose/dockerfile b/docker-compose/dockerfile
new file mode 100644
index 000000000..64c434998
--- /dev/null
+++ b/docker-compose/dockerfile
@@ -0,0 +1,79 @@
+FROM nvidia/cudagl:11.3.0-devel-ubuntu20.04
+
+ENV TZ=US/Pacific
+RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
+
+RUN apt-get update --fix-missing && \
+    apt-get install -y libgtk2.0-dev && \
+    apt-get install -y wget bzip2 ca-certificates curl git vim tmux g++ gcc build-essential cmake checkinstall gfortran libjpeg8-dev libtiff5-dev pkg-config yasm libavcodec-dev libavformat-dev libswscale-dev libdc1394-22-dev libxine2-dev libv4l-dev qt5-default libgtk2.0-dev libtbb-dev libatlas-base-dev libfaac-dev libmp3lame-dev libtheora-dev libvorbis-dev libxvidcore-dev libopencore-amrnb-dev libopencore-amrwb-dev x264 v4l-utils libprotobuf-dev protobuf-compiler libgoogle-glog-dev libgflags-dev libgphoto2-dev libhdf5-dev doxygen libflann-dev libboost-all-dev proj-data libproj-dev libyaml-cpp-dev cmake-curses-gui libzmq3-dev freeglut3-dev
+
+
+RUN cd / && git clone https://github.com/pybind/pybind11 &&\
+    cd pybind11 && git checkout v2.10.0 &&\
+    mkdir build && cd build && cmake .. -DCMAKE_BUILD_TYPE=Release -DPYBIND11_INSTALL=ON -DPYBIND11_TEST=OFF &&\
+    make -j6 && make install
+
+
+RUN cd / && wget https://gitlab.com/libeigen/eigen/-/archive/3.4.0/eigen-3.4.0.tar.gz &&\
+    tar xvzf ./eigen-3.4.0.tar.gz &&\
+    cd eigen-3.4.0 &&\
+    mkdir build &&\
+    cd build &&\
+    cmake .. &&\
+    make install
+
+SHELL ["/bin/bash", "--login", "-c"]
+
+RUN cd / && wget --quiet https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -O /miniconda.sh && \
+    /bin/bash /miniconda.sh -b -p /opt/conda &&\
+    ln -s /opt/conda/etc/profile.d/conda.sh /etc/profile.d/conda.sh &&\
+    echo ". /opt/conda/etc/profile.d/conda.sh" >> ~/.bashrc &&\
+    /bin/bash -c "source ~/.bashrc" && \
+    /opt/conda/bin/conda update -n base -c defaults conda -y &&\
+    /opt/conda/bin/conda create -n my python=3.8
+
+
+ENV PATH $PATH:/opt/conda/envs/my/bin
+
+RUN conda init bash &&\
+    echo "conda activate my" >> ~/.bashrc &&\
+    conda activate my &&\
+    pip install torch==2.0.0+cu118 torchvision==0.15.1+cu118 torchaudio==2.0.1 --index-url https://download.pytorch.org/whl/cu118 &&\
+    pip install "git+https://github.com/facebookresearch/pytorch3d.git@stable" &&\
+    pip install scipy joblib scikit-learn ruamel.yaml trimesh pyyaml opencv-python imageio open3d transformations warp-lang einops kornia pyrender
+
+RUN cd / && git clone --recursive https://github.com/NVIDIAGameWorks/kaolin
+RUN conda activate my && cd /kaolin &&\
+    FORCE_CUDA=1 python setup.py develop
+
+RUN cd / && git clone https://github.com/NVlabs/nvdiffrast &&\
+    conda activate my && cd /nvdiffrast && pip install .
+
+ENV OPENCV_IO_ENABLE_OPENEXR=1
+
+RUN conda activate my &&\
+    pip install scikit-image meshcat webdataset omegaconf pypng roma seaborn opencv-contrib-python openpyxl wandb imgaug Ninja xlsxwriter timm albumentations xatlas rtree nodejs jupyterlab objaverse g4f ultralytics==8.0.120 pycocotools videoio numba &&\
+    conda install -y -c anaconda h5py
+
+# Note: /foundationpose will only exist if using docker compose as it mounts the local directory to the container
+
+# Building C++ code in the mycpp directory
+RUN cd /foundationpose/mycpp/ && \
+    mkdir -p build && \
+    cd build && \
+    cmake .. && \
+    make -j11
+
+# Clean and install Python package in /kaolin
+RUN cd /kaolin && \
+    rm -rf build *egg* && \
+    pip install -e .
+
+# Clean and install Python package in mycuda directory of /foundationpose/bundlesdf
+RUN cd /foundationpose/bundlesdf/mycuda && \
+    rm -rf build *egg* && \
+    pip install -e .
+
+# force system to use bash
+ENV SHELL=/bin/bash
+RUN ln -sf /bin/bash /bin/sh
diff --git a/docker-compose/dockerfile.prod b/docker-compose/dockerfile.prod
new file mode 100644
index 000000000..7d5589351
--- /dev/null
+++ b/docker-compose/dockerfile.prod
@@ -0,0 +1,77 @@
+FROM nvidia/cudagl:11.3.0-devel-ubuntu20.04
+
+ENV TZ=US/Pacific
+RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
+
+RUN apt-get update --fix-missing && \
+    apt-get install -y libgtk2.0-dev && \
+    apt-get install -y wget bzip2 ca-certificates curl git vim tmux g++ gcc build-essential cmake checkinstall gfortran libjpeg8-dev libtiff5-dev pkg-config yasm libavcodec-dev libavformat-dev libswscale-dev libdc1394-22-dev libxine2-dev libv4l-dev qt5-default libgtk2.0-dev libtbb-dev libatlas-base-dev libfaac-dev libmp3lame-dev libtheora-dev libvorbis-dev libxvidcore-dev libopencore-amrnb-dev libopencore-amrwb-dev x264 v4l-utils libprotobuf-dev protobuf-compiler libgoogle-glog-dev libgflags-dev libgphoto2-dev libhdf5-dev doxygen libflann-dev libboost-all-dev proj-data libproj-dev libyaml-cpp-dev cmake-curses-gui libzmq3-dev freeglut3-dev
+
+
+RUN cd / && git clone https://github.com/pybind/pybind11 &&\
+    cd pybind11 && git checkout v2.10.0 &&\
+    mkdir build && cd build && cmake .. -DCMAKE_BUILD_TYPE=Release -DPYBIND11_INSTALL=ON -DPYBIND11_TEST=OFF &&\
+    make -j6 && make install
+
+
+RUN cd / && wget https://gitlab.com/libeigen/eigen/-/archive/3.4.0/eigen-3.4.0.tar.gz &&\
+    tar xvzf ./eigen-3.4.0.tar.gz &&\
+    cd eigen-3.4.0 &&\
+    mkdir build &&\
+    cd build &&\
+    cmake .. &&\
+    make install
+
+SHELL ["/bin/bash", "--login", "-c"]
+
+RUN cd / && wget --quiet https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -O /miniconda.sh && \
+    /bin/bash /miniconda.sh -b -p /opt/conda &&\
+    ln -s /opt/conda/etc/profile.d/conda.sh /etc/profile.d/conda.sh &&\
+    echo ". /opt/conda/etc/profile.d/conda.sh" >> ~/.bashrc &&\
+    /bin/bash -c "source ~/.bashrc" && \
+    /opt/conda/bin/conda update -n base -c defaults conda -y &&\
+    /opt/conda/bin/conda create -n my python=3.8
+
+
+ENV PATH $PATH:/opt/conda/envs/my/bin
+
+RUN conda init bash &&\
+    echo "conda activate my" >> ~/.bashrc &&\
+    conda activate my &&\
+    pip install torch==2.0.0+cu118 torchvision==0.15.1+cu118 torchaudio==2.0.1 --index-url https://download.pytorch.org/whl/cu118 &&\
+    pip install "git+https://github.com/facebookresearch/pytorch3d.git@stable" &&\
+    pip install scipy joblib scikit-learn ruamel.yaml trimesh pyyaml opencv-python imageio open3d transformations warp-lang einops kornia pyrender
+
+RUN cd / && git clone --recursive https://github.com/NVIDIAGameWorks/kaolin
+RUN conda activate my && cd /kaolin &&\
+    FORCE_CUDA=1 python setup.py develop
+
+RUN cd / && git clone https://github.com/NVlabs/nvdiffrast &&\
+    conda activate my && cd /nvdiffrast && pip install .
+
+ENV OPENCV_IO_ENABLE_OPENEXR=1
+
+RUN conda activate my &&\
+    pip install scikit-image meshcat webdataset omegaconf pypng roma seaborn opencv-contrib-python openpyxl wandb imgaug Ninja xlsxwriter timm albumentations xatlas rtree nodejs jupyterlab objaverse g4f ultralytics==8.0.120 pycocotools videoio numba &&\
+    conda install -y -c anaconda h5py
+
+
+COPY . /foundationpose
+
+# Building C++ code in the mycpp directory
+RUN cd /foundationpose/mycpp/ && \
+    mkdir -p build && \
+    cd build && \
+    cmake .. && \
+    make -j11
+
+# Clean and install Python package in /kaolin
+# todo: can this go above the copy?
+RUN cd /kaolin && \
+    rm -rf build *egg* && \
+    pip install -e .
+
+# Clean and install Python package in mycuda directory of /foundationpose/bundlesdf
+RUN cd /foundationpose/bundlesdf/mycuda && \
+    rm -rf build *egg* && \
+    pip install -e .
diff --git a/docker-compose/readme.md b/docker-compose/readme.md
new file mode 100644
index 000000000..11e0162f7
--- /dev/null
+++ b/docker-compose/readme.md
@@ -0,0 +1,10 @@
+# Alternative (new?) Docker Support
+
+This directory provides an experimental alternative to the current recommended approach.  It uses Docker Compose for development.  Instead of using `run_container.sh` as before, to start the container:
+
+```
+cd docker-compose
+docker compose up
+```
+
+There is also a dockerfile.prod that can be used to build foundationpose containers that are ready to use and don't require executing build_all.sh
\ No newline at end of file