In this case with this it will be enough:
//In the activity
Intent intent = getIntent();
String data = intent.getDataString();
//The result in data will be like sms:999%9999%9999 the % it's because is a URI
//If you want to get the phoneNumber directly
String phoneNumber = i.getData().getSchemeSpecificPart();//The result 999 9999 9999
So you can get from the phonenumber (999 9999 9999) the Contact name,Id, etc.Wich the answer you can see here:
Get Contact by Phone number on Android
When you try to use an intent filter the first thing is search in the documentation where/How, the creator send the information. In this case:
http://developer.android.com/reference/android/content/Intent.html#ACTION_SENDTO