Apparatus for and method of estimating dimensions of an object responsive to a code in the automatic reading of the codes on a

Dimensions of a linked with an electro-optically readable code object are estimated by directing a hand-retaining device on a scene that contains the supported on a bottom surface of the object. A scanner on the device scans the scene over a field of view from in order to obtain a position of a reference point of the code that is associated with the object, and reads the code. A dimension of the sensor device detects a three-dimensional (3D) point cloud of data points of the scene in automatic response to the reading of the code. Control means are clustered, the point cloud data clusters, locates the reference point of the codes in a data cluster, extracted belonging to the object data points of a data cluster from the point cloud, and processes the to the object belongs, the extracted data points to the dimensions of the object estimate.