 RGB-D images, which are RGB images that also record the depth of each pixel, are occasionally used to produce cuboids because computers no longer need to determine the depth of an object, as they typically do because depth is already recorded.Cuboid production is sensitive to changes in color and illumination, blockage, and background clutter.This means that it is difficult for computers to produce cuboids of objects that are multicolored, irregularly illuminated, or partially covered, or if there are many objects in the background.