TransCG is the first large-scale real-world dataset for transparent object depth completion and grasping, which contains 57,715 RGB-D images of 51 transparent objects and many opaque objects captured from different perspectives (~240 viewpoints) of 130 scenes under real-world settings. The samples are captured by two different types of cameras (Realsense D435 & L515).

The following data is provided:

• The 3D model of the transparent object;
• The 6dpose of the transparent object in each viewpoint of each scene;
• The raw RGB-D image, and the ground-truth refined depth image;
• The mask of the transparent objects;
• The ground-truth surface normals of every sample.