1. A method of dimensioning an object associated with a code, the method comprising: identifying a reference point associated with a code in a scene; obtaining coordinates of the reference point in the scene; capturing, using an imaging sensor, a point cloud representative of the scene; clustering, via a logic circuit, the point cloud into clusters; determining, via the logic circuit and using the coordinates of the reference point, that a first one of the clusters includes the reference point; extracting, via the logic circuit, the first one of the clusters; obtaining a representation of an outside boundary of the first one of the clusters; fitting a bounding box to enclose the representation; orienting the bounding box with facial constraints, wherein the bounding box includes faces, and the facial constraints include at least one of the faces being parallel to a base plane; and estimating, via the logic circuit, a dimension of an object corresponding to the extracted first one of the clusters based on the bounding box.