LiDAR point cloud to 3D model of street

I am looking for a way to convert point cloud collected though a Riegl LiDAR scanner to a picture perfect 3D model of a town.

I am not sure where to begin. I have some sample data. The data is available in following formats:

1. SDW


2. SDC


3. LAS/LAZ

Is it even possible? The point cloud has color information.

thanks