If your contacts are in the SD card, you have to export the contacts to a .vcf file. Now for some reason, Apple doesn't like normal .vcf files. You cannot just pop it into iCloud. Instead, you have to import this .vcf file into Gmail contacts. Then in Gmail, export it back to a .vcf file. When you do this export from Gmail, it will give you an option to make it Apple compatible. Select this option. Now you have a .vcf file that Apple understands. Just drag it into iCloud and you're done.