Wait a second, guys. Importing a mesh or a pointcloud is absolutely possible. RC will import it according to its orientation, whatever that may be. I think there is some confusion going on between importing a laserscan and importing a model - I only spotted it now while re-reading. The workaround is meant for meshes (“model”), something that the TO is not interested in.
For laserscans to be used for orientation of the cameras (images), ordered pointclouds are the only way. Some people have managed it with unordered ones, but in my opinion that was only possible for very specific cases, where the geometry was not very complex and the center point was so that RC could use it as the position of the scanner and so make use of it. With very complex geometry, that won’t work since RC will still use the center as the scanner position and so it will be occluding most of the geometry and an alignment should be impossible.