I’m looking for an thorough explanation of how data is encoded into qr codes. The explanation should be specific enough that one could encode a qr code manually (as by drawing)
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The complete specificion is available from ISO, as ISO/IEC 18004:2006. It is not free. You can find some partial information on the internet, but not enough to create an encoding process. If you really need the detail, buy the spec.
I can tell you that the process is far too complex to carry out by hand — the Reed-Solomon error correction calculation alone would take days and you’d not get it right 🙂
zxing has a complete QR code encoder implementation which may show you enough of how the process is carried out for your purpose.