An apparatus and method electro-optically read indicia, such as a direct part marking (DPM) code, that is raised or sunken relative to a target surface on a target. A solid-state, distance imaging sensor captures a target image comprised of a first set of pixels having first distance values that correspond to a first distance of the code from the sensor, and a second set of pixels having second distance values that correspond to a second distance of the target surface from the sensor. A controller reads the indicia by distinguishing between the first set of pixels and the second set of pixels within the image, by determining abrupt changes in the distance values among neighboring pixels.