#Find all "cubes" that the camera can see
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2D or 3D?
3D
If you just need to occasionally grab a list of cubes, you can do it by using groups. get_tree().get_nodes_in_group("Group Name") gets you a list of all nodes in the group, and you can check whether they're on screen by comparing Camera3D.unproject_position to get_viewport().get_visible_rect(). If you need more precision, use get_aabb() on the cube meshes and unproject all 8 corners of the AABB.
If you need a constantly updating list of cubes, use VisibleOnScreenNotifier3Ds. They emit a signal when they come/go from view and you can check the initial state with is_on_screen().
I forgot to consider one thing. This doesn't take walls/obstacles into account. You may need to do some raycasting if you only want to detect cubes that aren't hidden behind other objects.