diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
index 615d209d..ecedc277 100644
--- a/.github/workflows/docker.yml
+++ b/.github/workflows/docker.yml
@@ -2,8 +2,8 @@ name: Docker
 
 on:
   push:
-    # paths:
-    # - 'docker/**'
+    paths:
+    - 'docker/**'
   workflow_dispatch:
 
 env:
@@ -24,6 +24,9 @@ jobs:
       matrix:
         ubuntu: ['20.04', '22.04']
         opencv: ['4.x']
+        compiler:
+        - { cmd: g++, label: gcc }
+        - { cmd: clang++, label: clang }
 
     steps:
     - name: Check out main project
@@ -47,8 +50,9 @@ jobs:
       with:
         push: true
         context: docker
-        tags: ${{env.REGISTRY}}/${{env.IMAGE_NAME}}:ubuntu-${{matrix.ubuntu}}-opencv-${{matrix.opencv}}
+        tags: ${{env.REGISTRY}}/${{env.IMAGE_NAME}}:ubuntu-${{matrix.ubuntu}}-opencv-${{matrix.opencv}}-${{matrix.compiler.label}}
         labels: ${{steps.meta.outputs.labels}}
         build-args: |
           OPENCV_TAG=${{matrix.opencv}}
           UBUNTU_TAG=${{matrix.ubuntu}}
+          COMPILER=${{matrix.compiler.cmd}}
diff --git a/docker/Dockerfile b/docker/Dockerfile
index 7204bdff..428b83a3 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -2,9 +2,20 @@ ARG UBUNTU_TAG
 FROM ubuntu:$UBUNTU_TAG
 
 ARG OPENCV_TAG
+ARG COMPILER
+
+ENV DEBIAN_FRONTEND=noninteractive
 
 RUN apt-get update && \
-    apt-get install -y cmake g++ wget unzip && \
+    apt-get install -y \
+        ${COMPILER} \
+        cmake \
+        wget \
+        unzip \
+        ccache \
+        libpcl-dev \
+        swig \
+        googletest && \
     wget -O opencv.zip https://github.com/opencv/opencv/archive/${OPENCV_TAG}.zip && \
     wget -O opencv_contrib.zip https://github.com/opencv/opencv_contrib/archive/${OPENCV_TAG}.zip && \
     unzip opencv.zip && \