自分用の備忘録ですが、誰かのお役に立てば。

前提条件

OS： Ubuntu 18.04 LTS
GPU： GeForce 1080Ti
NVIDIA Container Toolkit がインストールされていること

参考： https://qiita.com/kndt84/items/cb0cd118099f114c508d

ハマりポイント

Ubuntu 18.04 から？ Eigen のインストール先が /usr/include/eigen3 になったようでビルドエラーが発生するため、cmake のオプション -D EIGEN_INCLUDE_PATH=/usr/include/eigen3 を追加する。

参考：https://github.com/opencv/opencv/issues/14868

Dockerfile

OpenCV 4.4.0

FROM nvidia/cuda:10.1-cudnn7-devel-ubuntu18.04

ENV DEBIAN_FRONTEND noninteractive

ARG OPENCV_VERSION='4.4.0'
ARG GPU_ARCH='6.1'
WORKDIR /opt

# Build tools
RUN apt update && \
    apt install -y \
    sudo \
    tzdata \
    git \
    cmake \
    wget \
    unzip \
    build-essential

# Media I/O:
RUN sudo apt install -y \
    zlib1g-dev \
    libjpeg-dev \
    libwebp-dev \
    libpng-dev \
    libtiff5-dev \
    libopenexr-dev \
    libgdal-dev \
    libgtk2.0-dev

# Video I/O:
RUN sudo apt install -y \
    libdc1394-22-dev \
    libavcodec-dev \
    libavformat-dev \
    libswscale-dev \
    libtheora-dev \
    libvorbis-dev \
    libxvidcore-dev \
    libx264-dev \
    yasm \
    libopencore-amrnb-dev \
    libopencore-amrwb-dev \
    libv4l-dev \
    libxine2-dev \
    libgstreamer1.0-dev \
    libgstreamer-plugins-base1.0-dev \
    libopencv-highgui-dev \
    ffmpeg

# Parallelism and linear algebra libraries:
RUN sudo apt install -y \
    libtbb-dev \
    libeigen3-dev

# Python:
RUN sudo apt install -y \
    python3-dev \
    python3-tk \
    python3-numpy

# Build OpenCV
RUN wget https://github.com/opencv/opencv/archive/${OPENCV_VERSION}.zip && \
    unzip ${OPENCV_VERSION}.zip && rm ${OPENCV_VERSION}.zip && \
    mv opencv-${OPENCV_VERSION} OpenCV && \
    cd OpenCV && \
    wget https://github.com/opencv/opencv_contrib/archive/${OPENCV_VERSION}.zip && \
    unzip ${OPENCV_VERSION}.zip && \
    mkdir build && \
    cd build && \
    cmake \
      -D WITH_TBB=ON \
      -D CMAKE_BUILD_TYPE=RELEASE \
      -D BUILD_EXAMPLES=ON \
      -D WITH_FFMPEG=ON \
      -D WITH_V4L=ON \
      -D WITH_OPENGL=ON \
      -D WITH_CUDA=ON \
      -D CUDA_ARCH_BIN=${GPU_ARCH} \
      -D CUDA_ARCH_PTX=${GPU_ARCH} \
      -D WITH_CUBLAS=ON \
      -D WITH_CUFFT=ON \
      -D WITH_EIGEN=ON \
      -D EIGEN_INCLUDE_PATH=/usr/include/eigen3 \
      -D OPENCV_EXTRA_MODULES_PATH=../opencv_contrib-${OPENCV_VERSION}/modules/ \
      .. && \
    make all -j$(nproc) && \
    make install

OpenCV 3.4.11

FROM nvidia/cuda:10.1-cudnn7-devel-ubuntu18.04

ENV DEBIAN_FRONTEND noninteractive

ARG OPENCV_VERSION='3.4.11'
ARG GPU_ARCH='6.1'

WORKDIR /opt

# Build tools
RUN apt update && \
    apt install -y \
    sudo \
    tzdata \
    git \
    cmake \
    wget \
    unzip \
    build-essential

# Media I/O:
RUN apt install -y \
    zlib1g-dev \
    libjpeg-dev \
    libwebp-dev \
    libpng-dev \
    libtiff5-dev \
    libopenexr-dev \
    libgdal-dev \
    libgtk2.0-dev

# Video I/O:
RUN apt install -y \
    libdc1394-22-dev \
    libavcodec-dev \
    libavformat-dev \
    libswscale-dev \
    libtheora-dev \
    libvorbis-dev \
    libxvidcore-dev \
    libx264-dev \
    yasm \
    libopencore-amrnb-dev \
    libopencore-amrwb-dev \
    libv4l-dev \
    libxine2-dev \
    libgstreamer1.0-dev \
    libgstreamer-plugins-base1.0-dev \
    ffmpeg

# Parallelism and linear algebra libraries:
RUN apt install -y \
    libtbb-dev \
    libeigen3-dev

# Python:
RUN apt install -y \
    python3-dev \
    python3-tk \
    python3-numpy

# Build OpenCV
RUN wget https://github.com/opencv/opencv/archive/${OPENCV_VERSION}.zip && \
    unzip ${OPENCV_VERSION}.zip && rm ${OPENCV_VERSION}.zip && \
    mv opencv-${OPENCV_VERSION} OpenCV && \
    cd OpenCV && \
    mkdir build && \
    cd build && \
    cmake \
      -D WITH_TBB=ON \
      -D CMAKE_BUILD_TYPE=RELEASE \
      -D BUILD_EXAMPLES=ON \
      -D WITH_FFMPEG=ON \
      -D WITH_V4L=ON \
      -D WITH_OPENGL=ON \
      -D WITH_CUDA=ON \
      -D CUDA_ARCH_BIN=${GPU_ARCH} \
      -D CUDA_ARCH_PTX=${GPU_ARCH} \
      -D WITH_CUBLAS=ON \
      -D WITH_CUFFT=ON \
      -D WITH_EIGEN=ON \
      -D EIGEN_INCLUDE_PATH=/usr/include/eigen3 \
      .. && \
    make all -j$(nproc) && \
    make install

参考情報

[Docker(Ubuntu18.04+CUDA10.1+cudnn7)でOpenCV4.1.1インストールするメモ]
(https://qiita.com/nakasuke_/items/ec1b0636416df3c72db3)