I have been handed some LIDAR data in PCD format (basically x,y,z), But it is not geo-referenced. I know the exact area and have obtained a GeoTiff from Google Earth. The entire region is only about 30 acres. So I am assuming that a simple linear transform of the values will be sufficient. But I am was wondering if any GUI tools could help with the conversion (at least getting the ground control points to line up and the linear formula). I have used QGIS to do this for unkown raster data, but this is the first time I have been asked to do this for point cloud.

I have found an interesting free tool called cloud compare which if I understand the demos, I might be able to use (it looks like it needs two point clouds, but I could convert the GeoTiff with FME to a point cloud). I do not have ESRI available. Any thoughts on Cloud Compare?