Just a quick post on something I found just in time for AGU, a mobile LiDAR / Point Cloud viewer app for Android (Google Play). I've been searching for an app like this since I started creating 3D datasets.
It works best with LAS files, which for Structure-from-Motion point cloud data you can export LAS files from CloudCompare. It seemed to have a problem with UTM coordinates (probably to a decimal precision cut off), but if you export the data in a "local" coordinate system it works beautifully. I also tried it on some OpenTopography LiDAR data and it works just fine.