Create DAE world file from LiDAR data

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I am working on a vehicle simulator project and am responsible for the simulation world. We're using Gazebo and have all of our infrastructure in ROS Hydro on Ubuntu 12.04. We have many point cloud maps of roadways we want to simulate in Gazebo to interface with our system, but currently have no way to create high-fidelity DAE world files from this LiDAR data. Several members of the team have worked with pycollada, Google Sketchup and Google Earth, SolidWorks, and even trying to create a .dae from scratch with no luck. How do you do this? Can anyone point me in the right direction? Thanks for your help