I'm less interested in the theory and am more interested in the practice. I own a printed copy of the 2015 version of the spec, but don't find the insights I get from it have much to do with its ability to scan as compared to taking my phone out and scanning a QR code does.
In practice, I mostly I find that the corners are the most finicky part. However, that is just my current opinion.
In practice, I mostly I find that the corners are the most finicky part. However, that is just my current opinion.