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...(There will be unaligned versions later). cglm doesn't alloc any memory on heap. So it doesn't provide any allocator. You should alloc memory for out parameters too if you pass pointer of memory location.
After the building of a simple 3D scanner (a webcam and a laser pointer), this software makes it possible to use these elements, with first analyse a video sequence, and second create a cloud of 3D points from the parameters of the system.