Here is the code modified to fit into the vtk algorithm filter pipeline:
http://www.rpi.edu/~doriad/VTK_List/vtkLidarScanner.zip<http://www.rpi.edu/%7Edoriad/VTK_List/vtkLidarScanner.zip>

and the dataset that the example works with:
http://www.rpi.edu/~doriad/VTK_List/bunny.vtp<http://www.rpi.edu/%7Edoriad/VTK_List/bunny.vtp>

The test is Test/TestScanner.cpp

Please let me know if you have any comments / recommendations / additions
that should be made.

Thanks,

David
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