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measure box (width,height,depth) with depth camera


im using kinect to try to measure a box, im placing the kinect on top looking to the floor, using emgu (wich is a opencv) wraper i managed to get the countour of object and also the highest point (wich gives me the height)

but i cant figure how to differentiate a side surface from the top like you see in the image when i merge all the depth image as a 2d image and then run blob detector i get a square of the detected objects but inside this square is the top surface and the sides of the box wich wont let me know the exact width and depth

image description