PDF3D ReportGen and PDF3D.IO development SDK can be used to convert .xyz formats to 3D PDF.
Files with point coordinates can be imported and displayed directly as 3D point clouds in the PDF. If the .xyz has additional channels such as intensity or RGB, these can also be converted. If the .xyz represents points on a terrain surface, ReportGen includes a terrain surface conversion module.
For multi-level scenes and if derived surfaces are available such as reconstructions from CloudCompare, or other photogrammertry software, these can be imported using OBJ, FBX, VRML, etc.