the samtools mpileup output can be piped into VarScan to apply a coverage and frequency filter:
samtools pileup -f reference.fasta myData.bam | java -jar VarScan.v2.2.jar pileup2snp --min-coverage 20 --min-var-freq 0.14
see:
http://varscan.sourceforge.net/using-varscan.html