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What exactly do you mean by filtering here?

The whole transformation seems to happen in this callback:

• https://github.com/ros-perception/pointcloud_to_laserscan/blob/1f4e90539e4d2c3d05b8dfe022d03008f322d37b/src/pointcloud_to_laserscan_nodelet.cpp#L139

So it is the place you should look into - IF it is needed. Perhaps you can achieve what you want with e.g. message_filters package (e.g. cache last N messages and publish it every second as a median etc.)?

• http://wiki.ros.org/message_filters