A barcode reader comprising a targeting illumination system, a plurality of illumination systems, and a lens assembly may also comprise feature offset data. The feature offset data may be offsets between locations of a plurality of features projected by the targeting illumination system within a plurality of calibration image frames captured at different calibration distances. The barcode reader may (i) select two features projected by the targeting illumination system that are present in a barcode image captured via the first lens, (ii) determine a feature offset that indicates an offset between the two features, and (iii) estimate a barcode distance based on the feature offset and the feature offset data.