A system and method for calibrating a barcode scanning tunnel comprises providing a scanning tunnel having a moveable surface, a camera, and a dimensioning device. Orientations of the dimensioning device and camera are estimated. Instances of a calibration object on the moveable surface are acquired by the dimensioning device and the camera, and a relationship is defined between the two devices. A calibration object is moved along the moveable surface through the devices' fields of view, controlling the camera's focal distance according to the relationship, so that the dimensioning device and the camera acquire instances of the calibration object, and the relationship is revised.