We produced the 'Barcodes' application for the iPhone. It can decode QR Codes. The source code is available from the zxing project; specifically, you want to take a look at the iPhone client and the partial C++ port of the core library. The port is a little old, from circa the 0.9 release of the Java code, but should still work reasonably well.
If you need to scan other formats, like 1D formats, you could continue the port of the Java code within this project to C++.
EDIT: Barcodes and the iphone code in the project were retired around the start of 2014.
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