TransCG Dataset

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.

TransCG 是首个针对透明物体深度补全与抓取的规模化真实世界数据集，包含从130个真实场景中不同视角（约240个视角）捕捉的，51个透明物体和众多不透明物体的57,715幅RGB-D图像。样本由两种不同类型的相机（Realsense D435与L515）采集。

数据集提供以下内容：

- 透明物体的三维模型；
- 每个场景每个视角中透明物体的6自由度姿态；
- 原始RGB-D图像和地面真实深度图像；
- 透明物体的掩码；
- 每个样本的地面真实表面法线。