QR Code for launching a native application

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To scan barcodes in Android by Intent, see https://github.com/zxing/zxing/wiki/Scanning-Via-Intent

To trigger an app from a QR code, yes, you need to register the app to handle the particular custom URL scheme. This is how the same app can respond to clicks on the web: https://github.com/zxing/zxing/wiki/Scanning-From-Web-Pages

Look at how it registers to handle URLs here: https://github.com/zxing/zxing/blob/master/android/AndroidManifest.xml

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